A Keypoint-Based Object Detection Algorithm

An improved algorithm is proposed for the omission and re-detection problems in the point cloud object detection method CenterPoint. The algorithm firstly adds Focal sparse convolution module to the feature extraction network to increase the proportion of important information in the features; then redefines the generation function of the detection head heatmap, and the supervisory signal generated by the elliptical Gaussian kernel is more closely matched to the real shape of the object to inhibit the generation of negative samples; finally, the overall regression of the bounding box information is applied to the training, so that the back propagation loss gain of the single dimensional information is regulated by the associated information. The improved algorithm is trained and evaluated on the KITTI 3D object detection dataset, and the overall mean Average Precision (mAP) is improved by 3.29% compared with the base model CenterPoint. The experimental results show that the improved algorithm effectively suppresses the redetection and omission problems of CenterPoint.