Robustness of multimodal 3D object detection using deep learning approach for autonomous vehicles

Authors: Ramezani, Pooya
Advisor: Bergevin, Robert
Other Title(s): Robustness of multimodal 3D object detection using deep learning approach fo autonomous vehicles
Abstract: In this thesis, we study the robustness of a multimodal 3D object detection model in the context of autonomous vehicles. Self-driving cars need to accurately detect and localize pedestrians and other vehicles in their 3D surrounding environment to drive on the roads safely. Robustness is one of the most critical aspects of an algorithm in the self-driving car 3D perception problem. Therefore, in this work, we proposed a method to evaluate a 3D object detector’s robustness. To this end, we have trained a representative multimodal 3D object detector on three different datasets. Afterward, we evaluated the trained model on datasets that we have proposed and made to assess the robustness of the trained models in diverse weather and lighting conditions. Our method uses two different approaches for building the proposed datasets for evaluating the robustness. In one approach, we used artificially corrupted images, and in the other one, we used the real images captured in diverse weather and lighting conditions. To detect objects such as cars and pedestrians in the traffic scenes, the multimodal model relies on images and 3D point clouds. Multimodal approaches for 3D object detection exploit different sensors such as camera and range detectors for detecting the objects of interest in the surrounding environment. We leveraged three well-known datasets in the domain of autonomous driving consist of KITTI, nuScenes, and Waymo. We conducted extensive experiments to investigate the proposed method for evaluating the model’s robustness and provided quantitative and qualitative results. We observed that our proposed method can measure the robustness of the model effectively.
Document Type: Mémoire de maîtrise
Issue Date: 2021
Open Access Date: 12 April 2021
Permalink: http://hdl.handle.net/20.500.11794/68766
Grantor: Université Laval
Collection:Thèses et mémoires

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