Reinforced Voxel-RCNN: An Efficient 3D Object Detection Method Based on Feature Aggregation

In this paper, the Towards High Performance Voxel-based 3D Object Detection (Voxel-RCNN) three-dimensional (3D) point cloud object detection model is used as the benchmark network. Aiming at the problems existing in the current mainstream 3D point cloud voxelization methods, such as the backbone and the lack of feature expression ability under the bird's-eye view (BEV), a high-performance voxel-based 3D object detection network (Reinforced Voxel-RCNN) is proposed. Firstly, a 3D feature extraction module based on the integration of inverted residual convolutional network and weight normalization is designed on the 3D backbone. This module can not only well retain more point cloud feature information, enhance the information interaction between convolutional layers, but also improve the feature extraction ability of the backbone network. Secondly, a spatial feature-semantic fusion module based on spatial and channel attention is proposed from a BEV perspective. The mixed use of channel features and semantic features further improves the network's ability to express point cloud features. In the comparison of experimental results on the public dataset KITTI, the experimental results of this paper are better than many voxel-based methods. Compared with the baseline network, the 3D average accuracy and BEV average accuracy on the three categories of Car, Cyclist, and Pedestrians are improved. Among them, in the 3D average accuracy, the improvement rate of Car category is 0.23%, Cyclist is 0.78%, and Pedestrians is 2.08%. In the context of BEV average accuracy, enhancements are observed: 0.32% for the Car category, 0.99% for Cyclist, and 2.38% for Pedestrians. The findings demonstrate that the algorithm enhancement introduced in this study effectively enhances the accuracy of target category detection.