仍然使用two-stage的方法速度很难提升,同时human pose estimation已经给出明显信号,即直接回归特征点一般没有heatmap的精度高。因此拟采用one-stage生成heatmap的方法,同时由于有限的wire-frame模型不能穷尽所有的车型,我们考虑只预测3D BBox的八个顶点和一个中心点。在符合我们要求的结构中,我们筛选出cornernet和centern...
Title:Rtm3d: Real-time monocular 3d detection from object keypoints for autonomous driving BibTex: (完整的BibTex) @inproceedings{li2020rtm3d, title={Rtm3d: Real-time monocular 3d detection from object keypoints for autonomous driving}, author={Li, Peixuan and Zhao, Huaici and Liu, Pengfei a...
RTM3D可以预测2D图片中的9个perspective key point,然后利用2D和3D的几何关系来复原3D信息。即使在对key point的预测中存在很多噪声,物体的性质也能被稳定地预测,这使得我们可以用很小的架构实现快速的检测,该方法只需要物体的3D性质而不需要其他外部网络或监督数据。 2) 简介 现在绝大多数3D检测都是用LiDAR(Light ...
RTM3D算法的主要思路,如图: 输入RGB图像,经过深度神经网络,预测目标的9个空间点(1个中心点,8个顶点),使用几何限制估计更加精确的9个空间点,进而找到目标的3D包围框。 下表为该文算法与其他3D目标检测方法比较,RTM3D不需要其他外部数据,而且速度达到实时。 算法架构图: 实验结果 在KITTI数据集上的实验结果,该算法...
python test.py --gpu_idx 0 --arch resnet_18 --pretrained_path ../checkpoints/rtm3d_resnet_18.pth 2.4.3. Evaluation python evaluate.py --gpu_idx 0 --arch resnet_18 --pretrained_path<PATH> 2.4.4. Training 2.4.4.1. Single machine, single gpu ...
RTM3D(ECCV2020) and KM3D (namely RTM3D++) are efficiency and accuracy monocular 3D object detection methods for autonomous driving. We replaced the post-processing of RTM3D with KM3D's Geometric Reasoning Module (GRM) to increase the speed of inference. KM3D, RTM3D Introduction RTM3D is a...
RTM3D论文简读 paper: https://arxiv.org/pdf/2001.03343.pdf code2: https://github.com/maudzung/SFA3D/tree/ea0222c1b35489dc35d8452c989c4b014e20e0da 文章目录 摘要 论文的贡献...
Real-time monocular 3D detectionAutonomous drivingKeypoint detectionIn this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box......
TTI, reflection, velocity, tomography, reverse time migrationSummary We present a new method of 3D RTM-based wave-path tomography, to overcome the difficulties of ray-tracing in complex media, and to make velocity model building consistent with RTM imaging. Residual move-out from RTM wide-azimuth...
RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Driving 来自 arXiv.org 喜欢 0 阅读量: 1 作者:P Li,H Zhao,P Liu,F Cao 摘要: In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take ...