EnhancedLiDAR

Enhance LiDAR pointcloud based on stereo image.

You can obtain the paper by click download.

Flow diagram

Result

Ground remove

The following picture shows the ground remove results based on iterated RANSAC method we designed and normal RANSAC method. The flow diagram of iterated RANSAC is shown below.

Enhanced LiDAR point cloud

The enhanced LiDAR point cloud with higher density is shown below. The blue points are generated by this method.

Experiment on 3D object detection

1. Dataset: KITTI (http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d)
2. Methods used: AVOD and AVOD-FPN
3. Results on val dataset:
4. PR curves
   

  Car_3D                       Car_BEV

5. Checkpoints & log file
   Download link：https://pan.baidu.com/s/1QcXrRVM3rLc-rh0WbOpOFQ
   Key：5vq8