Cascaded Cross-Modality Fusion Network for 3D Object Detection

. 2020 Dec 17;20(24):7243. doi: 10.3390/s20247243

Algorithm 1 A regulation algorithm of CMF module to avoid over-saturation of repeated points in the points candidates.

Input: point cloud features $A_{i - 1}$ from previous stage and point set $S_{i - 1}$ of $A_{i - 1}$ .

Output: regulated point cloud features

A_{i - 1}^{r}

1:
Count the repeated points set $S_{i - 1}^{m}$ and unrepeated points set $S_{i - 1}^{n}$ in $S_{i - 1}$ where $S_{i - 1}^{m} \cup S_{i - 1}^{n} = S_{i - 1}$
2:
if $S_{i - 1}^{m}$ > $λ_{1} \cdot N_{i}$ or $S_{i - 1}^{m} < λ_{2} \cdot N_{i}$ then
3:
Random select $N_{i}$ points from $S_{i - 1}$ and corresponding features $A_{i - 1}^{r}$
4:
else
5:
Random select $N_{i}$ points from $S_{i - 1}^{m}$ to build a new repeated point set $S_{i - 1}^{q}$
6:
Random select $N_{i}$ points from $S_{i - 1}^{q} \cup S_{i - 1}^{n}$ and collect corresponding features $A_{i - 1}^{r}$
7:
end ifreturn $A_{i - 1}^{r}$