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In autonomous driving, lidar has become the main vehicle sensor due to its advantages such as long-range measurement and high accuracy. However, the collected point cloud data is sparse and unevenly distributed, and it lacks characterization capabilities when facing objects with missing or similar shapes, so that the detection accuracy is low while detecting long-distance small targets with similar shapes and a small number of point clouds. In order to improve the detection accuracy of small targets represented by point clouds, this paper adopts a method that fuses point cloud and RGB image to construct a 3D object detection network architecture based on two-stage complementary fusion. In the first stage of the fusion, we use the FPS method to select some points from the raw point cloud data as key points. Then, we voxelize the raw point cloud and use the 3D sparse convolutional neural network to extract multi-scale points cloud features, which would fuse features of different scales with key points. In the second stage of fusion, a 2D object detector is used to obtain the 2D bounding box and category information of the target in the image and take the camera as the origin to extend along the direction of the 2D bounding box to form a frustum; then the point cloud and target category information within the frustum are fused into the key points. This paper uses key points as a bridge to effectively combine the semantic information of the image such as texture and color with the point cloud features. The experimental results show that the network proposed in this paper has excellent performance on small objects. [ABSTRACT FROM AUTHOR]

In recent years, deep learning has already been applied to English lip-reading. However, Chinese lip-reading starts late and lacks relevant dataset, and the recognition accuracy is not ideal. Therefore, this paper proposes a new hybrid neural network model to establish a Chinese lip-reading system. In this paper, we integrate the attention mechanism into both CNN and RNN. Specifically, we add the convolutional block attention module (CBAM) to the ResNet50 neural network, which enhances its ability to capture the small differences among the mouth patterns of similarly pronounced words in Chinese, improving the performance of feature extraction in the convolution process. We also add the time attention mechanism to the GRU neural network, which helps to extract the features among consecutive lip motion images. Considering the effects of the moments before and after on the current moment in the lip-reading process, we assign more weights to the key frames, which makes the features more representative. We further validate our model through experiments on our self-built dataset. Our experiments show that using convolutional block attention module (CBAM) in the Chinese lip-reading model can accurately recognize Chinese numbers 0–9 and some frequently used Chinese words. Compared with other lip-reading systems, our system has better performance and higher recognition accuracy. [ABSTRACT FROM AUTHOR]