EnhancedLiDAR

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Enhance LiDAR pointcloud based on stereo image.

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# EnhancedLiDAR
Enhance LiDAR pointcloud based on stereo image.

You can obtain the paper by click [download](https://kns.cnki.net/kcms/detail/detail.aspx?dbcode=CJFD&dbname=CJFDLAST2021&filename=ZGTB202105018&uniplatform=NZKPT&v=nEbt5HShUQs1edh3H3fLtrdJJSyKvbHdMfz8d2Ha0gq8ge5WsoLeSs2aFYc2YA3o).

## Flow diagram
![flow diagram](https://github.com/jerry99s/EnhancedLiDAR/blob/master/pic/flow_diagram.png)

## Result
### Ground remove
The following picture shows the ground remove results based on iterated RANSAC method we designed and normal RANSAC method.
![ground remove](https://github.com/jerry99s/EnhancedLiDAR/blob/master/pic/ground_remove.png)
The flow diagram of iterated RANSAC is shown below.<br/>
<div align=center>
<img src="https://github.com/jerry99s/EnhancedLiDAR/blob/master/pic/iterated_RANSAC.png" height = "550px">
</div>

### 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:
![3D detection](https://github.com/jerry99s/EnhancedLiDAR/blob/master/pic/3D_detection.png)
4. PR curves</br>
<div align="center">
&emsp;&emsp;Car_3D &emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp;&emsp; Car_BEV

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

EnhancedLiDAR

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