为此,3DOP [4]在立体点云中设计了一些深度特征,以对大量3D候选框进行评分。Mono3D[3]利用地平面先验知识,利用一些分割特征,从单个图像中生成3D方案。3DOP和Mono3D都使用了手工制作的功能。深层滑动形状[23]利用了更强大的深层学习特性。然而,它在3D体素网格上运行,并使用计算昂贵的3D卷积。我们提出了一种更有效的方法,通过引入点
Multi-View 3D Object Detection Network for Autonomous Driving 贡献点 利用多模态信息进行3D目标检测预测,融合主要思想是进行基于区域的特征融合。(不同view的ROI特征进行融合) MV3D包含两部分网络组成,剩下的就是对融合后的特征进行3D目标检测 3D Proposal Network 输入BEV视角下的点云,预测高质量的3D候选框。 3D...
[论文解读]Multi-View 3D Object Detection Network for Autonomous Driving,程序员大本营,技术文章内容聚合第一站。
Multi-modal 3D object detection has achieved remarkable progress, but it is often limited in practical industrial production because of its high cost and low efficiency. The multi-view camera-based method provides a feasible solution due to its low cost. However, camera data lacks geometric depth...
论文链接:Sparse4D: Multi-view 3D Object Detection with Sparse Spatial-Temporal Fusion 代码链接:https://github.com/linxuewu/Sparse4D 作者:Xuewu Lin, Tianwei Lin, Zixiang Pei, Lichao Huang, Zhizhon…
Self-supervised learningMulti-view optimizationAutomotive applicationMonocular systemSelf-supervised 3D object detection from RGB videos using geometric constraints.Temporal continuity repaces additional sensors in training.Self-supervision enables fine-tuning on real data without labels....
3D object detection in images 3DVP 利用3D voxel模式和利用ACF检测器进行2D检测和3D姿态估计。3DOP 使用熵最小化的方法从双目图像重构深度,然后输入到R-CNN用于目标识别。Mono3D和3DOP具有同样的pipeline,只不过是利用单目图像生成3D proposal。为了融合时序信息,一些工作结合运动中的结构以及地面估计将2D 目标检测迁...
PETR: Position Embedding Transformation for Multi-View 3D Object Detection 时间:22.07 机构:Megvii TL;DR 一种多目3D目标检测的方法,主体思想是将3D坐标信息编码到2D图像特征,产生3D awared features,利用object query在这种特征上直接预测3D结果。 Method 方法架构图如下,首先这是一个多目的E2E 3D detection方法...
This repository is an official implementation of ourECCV 2024paperRay Denoising: Depth-aware Hard Negative Sampling for Multi-view 3D Object Detection. This repository contains Pytorch training code, evaluation code and pre-trained models. Framework ...
Multi-View 3D Object Detection Network for Autonomous Driving Xiaozhi Chen1, Huimin Ma1, Ji Wan2, Bo Li2, Tian Xia2 1Department of Electronic Engineering, Tsinghua University 2Baidu Inc. {chenxz12@mails., mhmpub@}tsinghua.edu.cn, {wanji, libo24, xiatian}@baidu.com Abstract This paper ...