用法向量增强点云特征，提升自动驾驶3D目标检测精度

Recent studies in 3D object detection for autonomous vehicles aim to enrich features through the utilization of multi-modal setups or the extraction of local patterns within LiDAR point clouds. However, multi-modal methods face significant challenges in feature alignment, and gaining features locally can be oversimplified for complex 3D object detection tasks. In this paper, we propose a novel model, NV3D, which utilizes local features acquired from voxel neighbors, as normal vectors computed per voxel basis using K-nearest neighbors (KNN) and principal component analysis (PCA). This informative feature enables NV3D to determine the relationship between the surface and pertinent target entities, including cars, pedestrians, or cyclists. During the normal vector extraction process, NV3D offers two distinct sampling strategies: normal vector density-based sampling and FOV-aware bin-based sampling, allowing elimination of up to 55% of data while maintaining performance. In addition, we applied element-wise attention fusion, which accepts voxel features as the query and value and normal vector features as the key, similar to the attention mechanism. Our method is trained on the KITTI dataset and has demonstrated superior performance in car and cyclist detection owing to their spatial shapes. In the validation set, NV3D without sampling achieves 86.60% and 80.18% mean Average Precision (mAP), greater than the baseline Voxel R-CNN by 2.61% and 4.23% mAP, respectively. With both samplings, NV3D achieves 85.54% mAP in car detection, exceeding the baseline by 1.56% mAP, despite roughly 55% of voxels being filtered out.