中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Embracing Single Stride 3D Object Detector with Sparse Transformer

文献类型:会议论文

作者Fan L(范略)1,4,5,8; Pang ZQ(庞子奇)6; Zhang TY(张天远)7; Wang Yu-Xiong6; Zhao X(赵行)9; Wang F(王峰)3; Wang NY(王乃岩)3; Zhang ZX(张兆翔)1,2,4,5,8
出版日期2022-06
会议日期2022/6/19-2022/6/24
会议地点新奥尔良
关键词点云目标检测 自动驾驶
DOI10.1109/CVPR52688.2022.00827
英文摘要

In LiDAR-based 3D object detection for autonomous driving, the ratio of the object size to input scene size is significantly smaller compared to 2D detection cases. Over-looking this difference, many 3D detectors directly follow the common practice of 2D detectors, which downsample the feature maps even after quantizing the point clouds. In this paper, we start by rethinking how such multi-stride stereotype affects the LiDAR-based 3D object detectors. Our experiments point out that the downsampling operations bring few advantages, and lead to inevitable information loss. To remedy this issue, we propose Single-stride Sparse Transformer (SST) to maintain the original resolution from the beginning to the end of the network. Armed with transformers, our method addresses the problem of insufficient receptive field in single-stride architectures. It also cooperates well with the sparsity of point clouds and naturally avoids expensive computation. Eventually, our SST achieves state-of-the-art results on the large-scale Waymo Open Dataset. It is worth mentioning that our method can achieve exciting performance (83.8 LEVEL_1 AP on validation split) on small object (pedestrian) detection due to the characteristic of single stride. Our codes will be public soon.

语种英语
URL标识查看原文
源URL[http://ir.ia.ac.cn/handle/173211/57417]  
专题自动化研究所_智能感知与计算研究中心
作者单位1.模式识别国家重点实验室
2.中国科学院香港创新研究院,人工智能与机器人研究中心
3.图森未来
4.中国科学院大学未来技术学院
5.中国科学院自动化所
6.伊利诺伊大学,香槟分校
7.卡耐基梅隆大学
8.中国科学院大学
9.清华大学
推荐引用方式
GB/T 7714
Fan L,Pang ZQ,Zhang TY,et al. Embracing Single Stride 3D Object Detector with Sparse Transformer[C]. 见:. 新奥尔良. 2022/6/19-2022/6/24.

入库方式: OAI收割

来源:自动化研究所

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