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To improve the performance of vehicle detection algorithm based on 3D point clouds, this paper proposed a real-time vehicle target detection algorithm based on the bird’s-eye view of point cloud. First, the original 3D vehicle point cloud was converted into the 2D point cloud RGB feature map. Second, the vehicle’s yaw angle prediction branch was added to achieve accurate vehicle localization based on YOLOv4-tiny network, the target localization capability of the network was improved by adding an improved Spatial Pyramid Pooling-Fast (SPPF) module. Finally, the target detection precision was improved by introducing a dual-attention mechanism and optimizing the loss function in the backbone network. The test results show that the average vehicle detection precision of the proposed algorithm reaches 96.92%, which is 2.94 percentage points higher than YOLOv4-tiny, the average detection accuracy of the proposed algorithm reaches 87.73% in the moderate difficulty of KITTI bird’s-eye view validation set, detection rate reaches 100 frames per second, which is able to meet the real-time requirements.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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