Yueting Liu, Hanshi Wang, Yunfei Lei, ZhengJun Zha, Weiming Hu, Jin Gao
Recent advancements in autonomous driving perception have revealed exceptional capabilities within structured environments dominated by vehicular traffic. However, current perception models exhibit significant limitations in semi-structured environments, where dynamic pedestrians with more diverse irregular movement and occlusion prevail. We attribute this shortcoming to the scarcity of high-quality datasets in semi-structured scenes, particularly concerning pedestrian perception and prediction. In this work, we present the multi-modal Pedestrian-Focused Scene Dataset(PFSD), rigorously annotated in semi-structured scenes with the format of nuScenes. PFSD provides comprehensive multi-modal data annotations with point cloud segmentation, detection, and object IDs for tracking. It encompasses over 130,000 pedestrian instances captured across various scenarios with varying densities, movement patterns, and occlusions. Furthermore, to demonstrate the importance of addressing the challenges posed by more diverse and complex semi-structured environments, we propose a novel Hybrid Multi-Scale Fusion Network (HMFN). Specifically, to detect pedestrians in densely populated and occluded scenarios, our method effectively captures and fuses multi-scale features using a meticulously designed hybrid framework that integrates sparse and vanilla convolutions. Extensive experiments on PFSD demonstrate that HMFN attains improvement in mean Average Precision (mAP) over existing methods, thereby underscoring its efficacy in addressing the challenges of 3D pedestrian detection in complex semi-structured environments. Coding and benchmark are available.