相关论文: Rethink 3D Object Detection from Physical World

The 3D Average Precision (3D AP) relies on the intersection over union between predictions and ground truth objects. However, camera-only detectors have limited depth accuracy, which may cause otherwise reasonable predictions that suffer…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Prior work in 3D object detection evaluates models using offline metrics like average precision since closed-loop online evaluation on the downstream driving task is costly. However, it is unclear how indicative offline results are of…

A high-performing object detection system plays a crucial role in autonomous driving (AD). The performance, typically evaluated in terms of mean Average Precision, does not take into account orientation and distance of the actors in the…

The better accuracy and efficiency trade-off has been a challenging problem in object detection. In this work, we are dedicated to studying key optimizations and neural network architecture choices for object detection to improve accuracy…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

3D object detection is still an open problem in autonomous driving scenes. When recognizing and localizing key objects from sparse 3D inputs, autonomous vehicles suffer from a larger continuous searching space and higher fore-background…

Although existing 3D perception algorithms have demonstrated significant improvements in performance, their deployment on edge devices continues to encounter critical challenges due to substantial runtime latency. We propose a new benchmark…

The efficiency of object detectors depends on factors like detection accuracy, processing time, and computational resources. Processing time is crucial for real-time applications, particularly for autonomous vehicles (AVs), where…

3D object detection with point clouds and images plays an important role in perception tasks such as autonomous driving. Current methods show great performance on detection and pose estimation of standard-shaped vehicles but lack behind on…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

In recent years, vision-centric perception has flourished in various autonomous driving tasks, including 3D detection, semantic map construction, motion forecasting, and depth estimation. Nevertheless, the latency of vision-centric…

Active Learning has proved to be a relevant approach to perform sample selection for training models for Autonomous Driving. Particularly, previous works on active learning for 3D object detection have shown that selection of samples in…

Humans combine prediction and perception to observe the world. When faced with rapidly moving birds or insects, we can only perceive them clearly by predicting their next position and focusing our gaze there. Inspired by this, this paper…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Variants of accuracy and precision are the gold-standard by which the computer vision community measures progress of perception algorithms. One reason for the ubiquity of these metrics is that they are largely task-agnostic; we in general…

Average precision (AP) is a widely used metric to evaluate detection accuracy of image and video object detectors. In this paper, we analyze object detection from videos and point out that AP alone is not sufficient to capture the temporal…

3D object detection is a key perception component in autonomous driving. Most recent approaches are based on Lidar sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles,…

With recent advances in computer vision, it appears that autonomous driving will be part of modern society sooner rather than later. However, there are still a significant number of concerns to address. Although modern computer vision…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…