{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T15:12:19Z","timestamp":1761664339584,"version":"3.37.3"},"reference-count":36,"publisher":"Wiley","license":[{"start":{"date-parts":[[2021,12,21]],"date-time":"2021-12-21T00:00:00Z","timestamp":1640044800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61673186","61871196","2019J01082","ZQN-YX601"],"award-info":[{"award-number":["61673186","61871196","2019J01082","ZQN-YX601"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003392","name":"Natural Science Foundation of Fujian Province","doi-asserted-by":"publisher","award":["61673186","61871196","2019J01082","ZQN-YX601"],"award-info":[{"award-number":["61673186","61871196","2019J01082","ZQN-YX601"]}],"id":[{"id":"10.13039\/501100003392","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003815","name":"Huaqiao University","doi-asserted-by":"publisher","award":["61673186","61871196","2019J01082","ZQN-YX601"],"award-info":[{"award-number":["61673186","61871196","2019J01082","ZQN-YX601"]}],"id":[{"id":"10.13039\/501100003815","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Scientific Programming"],"published-print":{"date-parts":[[2021,12,21]]},"abstract":"<jats:p>Currently, there are many kinds of voxel-based multisensor 3D object detectors, while point-based multisensor 3D object detectors have not been fully studied. In this paper, we propose a new 3D two-stage object detection method based on point cloud and image fusion to improve the detection accuracy. To address the problem of insufficient semantic information of point cloud, we perform multiscale deep fusion of LiDAR point and camera image in a point-wise manner to enhance point features. Due to the imbalance of LiDAR points, the object point cloud in the long-distance area is sparse. We design a point cloud completion module to predict the spatial shape of objects in the candidate boxes and extract the structural information to improve the feature representation ability to further refine the boxes. The framework is evaluated on widely used KITTI and SUN-RGBD dataset. Experimental results show that our method outperforms all state-of-the-art point-based 3D object detection methods and has comparable performance to voxel-based methods as well.<\/jats:p>","DOI":"10.1155\/2021\/4650660","type":"journal-article","created":{"date-parts":[[2021,12,21]],"date-time":"2021-12-21T18:53:21Z","timestamp":1640112801000},"page":"1-11","source":"Crossref","is-referenced-by-count":3,"title":["Enhancing Point Features with Spatial Information for Point-Based 3D Object Detection"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6641-6469","authenticated-orcid":true,"given":"Huaijin","family":"Liu","sequence":"first","affiliation":[{"name":"College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2386-770X","authenticated-orcid":true,"given":"Jixiang","family":"Du","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Huaqiao University, Xiamen 361021, China"},{"name":"Fujian Key Laboratory of Big Data Intelligence and Security, Huaqiao University, Xiamen 361021, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5990-3154","authenticated-orcid":true,"given":"Yong","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5536-5224","authenticated-orcid":true,"given":"Hongbo","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Huaqiao University, Xiamen 361021, China"},{"name":"Fujian Key Laboratory of Big Data Intelligence and Security, Huaqiao University, Xiamen 361021, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/cvpr.2019.00086"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2020.2977026"},{"article-title":"Pv-rcnn++: Point-voxel Feature Set Abstraction with Local Vector Representation for 3d Object Detection","year":"2021","author":"S. Shi","key":"3"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01105"},{"article-title":"Cia-ssd: Confident Iou-Aware Single-Stage Object Detector from point Cloud","year":"2020","author":"W. Zheng","key":"5"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2019.2952201"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-020-01287-w"},{"first-page":"923","article-title":"End-to-end multi-view fusion for 3d object detection in lidar point clouds","author":"Y. Zhou","key":"8"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/iros.2018.8594049"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01270-0_39"},{"article-title":"Multi-view adaptive fusion network for 3d object detection","year":"2020","author":"G. Wang","key":"11"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/cvpr.2018.00102"},{"article-title":"Faraway-frustum: Dealing with Lidar Sparsity for 3d Object Detection Using Fusion","year":"2020","author":"H. Zhang","key":"13"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v34i07.6933"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58555-6_3"},{"key":"16","doi-asserted-by":"crossref","DOI":"10.1109\/IROS51168.2021.9636311","article-title":"Joint Multi-Object Detection and Tracking with Camera-Lidar Fusion for Autonomous Driving","author":"K. Huang","year":"2021"},{"article-title":"Sienet: Spatial Information Enhancement Network for 3d Object Detection from point Cloud","year":"2021","author":"Z. Li","key":"17"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.3390\/s18103337"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.23919\/spa50552.2020.9241265"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1109\/iccv.2019.00987"},{"article-title":"Pointnet++: Deep Hierarchical Feature Learning on point Sets in a Metric Space","year":"2017","author":"C. R. Qi","key":"21"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-24574-4_28"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1109\/3dv.2018.00088"},{"article-title":"Learning Object Bounding Boxes for 3d Instance Segmentation on point Clouds","year":"2019","author":"B. Yang","key":"24"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1109\/iccv.2017.324"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913491297"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1007\/s41095-015-0029-x"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/iccv.2019.00937"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2020.107529"},{"article-title":"A Method for Stochastic Optimization","year":"2014","author":"D. P. Kingma","key":"30"},{"article-title":"Maff-net: Filter False Positive for 3d Vehicle Detection with Multi-Modal Adaptive Feature Fusion","year":"2020","author":"Z. Zhang","key":"31"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1109\/icra.2019.8794195"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1109\/icara51699.2021.9376453"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1109\/iccvw54120.2021.00327"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00033"},{"article-title":"Mbdf-net: Multi-branch deep fusion network for 3d object detection","year":"2021","author":"X. Tan","key":"36"}],"container-title":["Scientific Programming"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/sp\/2021\/4650660.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/sp\/2021\/4650660.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/sp\/2021\/4650660.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,12,21]],"date-time":"2021-12-21T18:53:24Z","timestamp":1640112804000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/sp\/2021\/4650660\/"}},"subtitle":[],"editor":[{"given":"Jianping","family":"Gou","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2021,12,21]]},"references-count":36,"alternative-id":["4650660","4650660"],"URL":"https:\/\/doi.org\/10.1155\/2021\/4650660","relation":{},"ISSN":["1875-919X","1058-9244"],"issn-type":[{"type":"electronic","value":"1875-919X"},{"type":"print","value":"1058-9244"}],"subject":[],"published":{"date-parts":[[2021,12,21]]}}}