面向自动驾驶的三维目标检测综述

Review of 3D Object Detection for Autonomous Driving

近年来,随着自动驾驶行业的蓬勃发展,作为感知系统核心的三维目标检测技术受到越来越多的关注,已成为当前热门的研究方向。同时,深度学习的广泛应用,使得最近的三维目标检测技术有了很大的突破,大批优秀的算法涌现。文中系统地总结了面向自动驾驶领域的三维目标检测方法,并按传感器类型将现有的算法分为3类,即基于图像的三维目标检测、基于LiDAR的三维目标检测和基于多传感器的三维目标检测;其次,详细分析了3种方法的优缺点,并对基于LiDAR的三维目标检测算法进行了深入调研和细分;然后,介绍了自动驾驶领域常用的三维目标检测数据集,包括KITTI,nuScenes和Waymo Open Dataset,并对比了最新的三维目标检测算法在不同数据集上的性能表现;最后探讨了三维目标检测技术未来的发展方向。

In recent years,with the rapid development of autonomous driving,3D object detection technology as the core of perception systems has received more and more attention and become a hot research direction.At the same time,the wide application of deep learning has made a great breakthrough in 3D object detection technology recently.A large number of excellent algorithms have emerged.This paper systematically summarizes 3D object detection methods for the autonomous driving field and divides the existing algorithms into three categories according to sensor types:image-based 3D object detection,LiDAR-based 3D object detection,and multi-sensor-based 3D object detection.After that,it analyzes the advantages and disadvantages of the three methods in detail.The LiDAR-based 3D object detection algorithms are thoroughly investigated and subdivided.Then it introduces the commonly used 3D object detection datasets in autonomous driving,including KITTI,nuScenes,and Waymo Open Dataset,and compares the performance of the latest 3D object detection algorithms on different datasets.Finally,the future research direction of 3D object detection technology is discussed.