Method

Unifying 3D Object Detection and Tracking with Monocular Cameras [CDTrack3D]
None

Submitted on 3 Nov. 2021 08:47 by
Shubham Shrivastava (Stanford University)

Running time:0.0106 s
Environment:NVIDIA RTX 3090 GPU, i9 10850k CPU

Method Description:
CDTrack3D is a framework for simultaneously
detecting and tracking objects through frames.
While object pose and dimensions are trained with
supervision from ground-truth, the object
descriptors are trained in an unsupervised way.
Furthermore, for the training of our descriptors,
we do not need sequential data. Run-Time
Performance for CDTrack3D: `94.13fps` on an PC with
i9 10850k CPU and NVIDIA RTX 3090 GPU.
Parameters:
lambda_desc_loss: 0.1
lambda_h_loss: 0.1
lambda_kpt_loss: 5.0
lambda_l_loss: 0.1
lambda_w_loss: 0.1
lambda_yaw_loss: 5.0
lambda_z_loss: 5.0
learning_rate: 0.0001
Latex Bibtex:

Detailed Results

Object detection and orientation estimation results. Results for object detection are given in terms of average precision (AP) and results for joint object detection and orientation estimation are provided in terms of average orientation similarity (AOS).


Benchmark Easy Moderate Hard
Car (Detection) 46.54 % 42.11 % 34.20 %
Car (Orientation) 45.68 % 40.53 % 32.95 %
Car (3D Detection) 3.01 % 1.65 % 1.40 %
Car (Bird's Eye View) 6.58 % 4.06 % 3.26 %
Pedestrian (Detection) 42.95 % 29.98 % 27.59 %
Pedestrian (Orientation) 29.79 % 20.79 % 19.06 %
Pedestrian (3D Detection) 1.49 % 1.07 % 0.71 %
Pedestrian (Bird's Eye View) 2.49 % 1.49 % 1.46 %
Cyclist (Detection) 23.84 % 16.04 % 13.15 %
Cyclist (Orientation) 14.04 % 8.82 % 7.37 %
Cyclist (3D Detection) 0.06 % 0.06 % 0.05 %
Cyclist (Bird's Eye View) 0.07 % 0.07 % 0.05 %
This table as LaTeX


2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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