Research Article
A Novel Method for 3D Object Detection in Open-Pit Mine Based on Hybrid Solid-State LiDAR Point Cloud
Table 2
Ablation study for PointPillars-HSL.
| | Model | Feature enhancement | Pillar size | Loss function optimization | mAP (%) | Speed (Hz) |
| | PointPillars | ✗ | 0.162 | ✗ | 79.28 | 10.15 |
| | PointPillars-HSL | ✓ | 0.162 | ✗ | 87.41 | — | | ✗ | 0.162 + 0.322 | ✗ | 79.05 | 11.47 | | ✓ | 0.162 + 0.322 | ✗ | 87.21 | — | | ✓ | 0.162 + 0.322 | ✓ | 89.72 | 11.47 |
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