Current efficient LiDAR-based detection frameworks are lacking in exploiting object relations, which naturally present in both spatial and temporal manners. To this end, we introduce a simple, efficient, and effective two-stage detector, termed as Ret3D. At the core of Ret3D is the utilization of novel intra-frame and inter-frame relation modules to capture the spatial and temporal relations accordingly. More Specifically, intra-frame relation module (IntraRM) encapsulates the intra-frame objects into a sparse graph and thus allows us to refine the object features through efficient message passing. On the other hand, inter-frame relation module (InterRM) densely connects each object in its corresponding tracked sequences dynamically, and leverages such temporal information to further enhance its representations efficiently through a lightweight transformer network. We instantiate our novel designs of IntraRM and InterRM with general center-based or anchor-based detectors and evaluate them on Waymo Open Dataset (WOD). With negligible extra overhead, Ret3D achieves the state-of-the-art performance, being 5.5% and 3.2% higher than the recent competitor in terms of the LEVEL 1 and LEVEL 2 mAPH metrics on vehicle detection, respectively.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Ret3D: Rethinking Object Relations for Efficient 3D Object Detection in Driving Scenes


    Beteiligte:
    Wu, Y. (Autor:in) / Zhang, D. (Autor:in) / Zhang, L. (Autor:in) / Zhan, X. (Autor:in) / Dai, D. (Autor:in) / Liu, Y. (Autor:in) / Cheng, M. (Autor:in)

    Erscheinungsdatum :

    2022-01-01


    Medientyp :

    Paper


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629




    Understanding object relations in traffic scenes

    Hensel, Irina / Bachmann, Alexander / Hummel, Britta et al. | Tema Archiv | 2010


    Bayesian object detection in dynamic scenes

    Sheikh, Y. / Shah, M. | IEEE | 2005


    Dropped object detection in crowded scenes

    Bhatnagar, Deepti, S.M. Massachusetts Institute of Technology | DSpace@MIT | 2009

    Freier Zugriff

    Detection of Extended Object Images in Optical Scenes

    Furman, Y. A. / Khafizov, R. G. | British Library Online Contents | 1998