3. 3次元物体検出の既存手法
CNN
CNN
LIDAR
画像
RPN 全結合
物体かどうか
位置と大きさ
RoI pooling [2]
(Region Proposal Network)
(Convolutional Neural Network)
(Convolutional Neural Network)
(light detection and ranging)
[1] Xiaozhi Chen, Huimin Ma, Ji Wan, Bo Li, and Tian Xia. Multi-view 3d object detection network for autonomous driving. In 2017 IEEE Conference on Computer Vision and
Pattern Recognition, CVPR 2017, Honolulu, HI, USA, July 21-26, 2017, pages 6526–6534. IEEE Computer Society, 2017.
[2] Ross B. Girshick. Fast R-CNN. In 2015 IEEE International Conference on Computer Vision, ICCV 2015, Santiago, Chile, December 7-13, 2015, pages 1440–1448.
Multi-View 3D (MV3D) Object Detection Network [1]