PointBi-FPN: An Extention to Pointpillars for LiDAR 3D Object Detection in Autonomous Vehicles Using Bi-Directional Feature Pyramid Network

SOUMYA A

Abstract: Autonomous vehicles increasingly rely on accurate three-dimensional (3D) object detection for safe navigation. While two-dimensional (2D) methods offer computational efficiency, the shift to 3D detection enhances precision in understanding environments. Point-based and voxel-based approaches are accurate but computationally intensive for onboard deployment. Pillar-based methods like PointPillars provide efficiency but may lack detection accuracy compared to voxel-based approaches. In this paper, we focus on enhancing the performance of PointPillars, a popular pillar-based detector, using LiDAR data. The proposed approach (PointBi-FPN) employs a bi-directional feature pyramid network (Bi-FPN) as a backbone, that aggregates multiscale features in the input data, providing a holistic view of the environment, which is crucial for detecting objects of varying sizes and distances accurately. Bi-FPN improves the model's understanding of complex scenes, making it more robust to occlusions. Through extensive experimentation on the KITTI dataset, the PointBi-FPN approach demonstrates better performance across all three detection benchmarks: BEV (Bird's Eye View), 3D (Three-Dimensional), and AOS (Average Orientation Similarity). Notably, the proposed approach exhibits significant improvements, particularly in accurately detecting objects labeled as “hard” difficulty.