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Original Research | Open Access

LWD-3D: Lightweight Detector Based on Self-Attention for 3D Object Detection

Shuo Yang1, Huimin Lu1,2( ), Tohru Kamiya1, Yoshihisa Nakatoh1, Seiichi Serikawa1
School of Engineering, Kyushu Institute of Technology, Fukuoka 804-8550, Japan
School of Information Engineering, Yangzhou University, Yangzhou 225127, China.
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Abstract

Lightweight modules play a key role in 3D object detection tasks for autonomous driving, which are necessary for the application of 3D object detectors. At present, research still focuses on constructing complex models and calculations to improve the detection precision at the expense of the running rate. However, building a lightweight model to learn the global features from point cloud data for 3D object detection is a significant problem. In this paper, we focus on combining convolutional neural networks with self-attention-based vision transformers to realize lightweight and high-speed computing for 3D object detection. We propose light-weight detection 3D (LWD-3D), which is a point cloud conversion and lightweight vision transformer for autonomous driving. LWD-3D utilizes a one-shot regression framework in 2D space and generates a 3D object bounding box from point cloud data, which provides a new feature representation method based on a vision transformer for 3D detection applications. The results of experiment on the KITTI 3D dataset show that LWD-3D achieves real-time detection (time per image < 20 ms). LWD-3D obtains a mean average precision (mAP) 75% higher than that of another 3D real-time detector with half the number of parameters. Our research extends the application of visual transformers to 3D object detection tasks.

Keywords

3D object detectionpoint cloudsvision transformerone-shot regressionreal-time

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CAAI Artificial Intelligence Research
Volume 1 Issue 2,
December 2022
Pages 137-143
DOI: 10.26599/AIR.2022.9150009
Cite this article:
Yang S, Lu H, Kamiya T, et al. LWD-3D: Lightweight Detector Based on Self-Attention for 3D Object Detection. CAAI Artificial Intelligence Research, 2022, 1(2): 137-143. https://doi.org/10.26599/AIR.2022.9150009

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Received: 05 December 2022
Revised: 01 January 2023
Accepted: 08 January 2023
Published: 10 March 2023
© The author(s) 2022

The articles published in this open access journal are distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/).
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