Method

BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View [la] [BirdNet+]
https://github.com/AlejandroBarrera/BirdNet2

Submitted on 28 May. 2021 13:59 by
Alejandro Barrera (UC3M)

Running time:0.11 s
Environment:Titan Xp (PyTorch)

Method Description:
We present a fully end-to-end 3D object detection
framework that can infer oriented 3D boxes solely
from BEV images by using a two-stage object
detector and ad-hoc regression branches,
eliminating the need for a post-processing stage.

NOTE: This submission uses the same method described in our ITSC 2020 paper but applies a new 50 x 45 m BEV as input. An extended journal publication discussing this change is currently under review.
Parameters:
Final model: ResNet-50-FPN + real dimensions
regression + height regression + hybrid yaw
estimation (12 bins + regression).
Latex Bibtex:
@INPROCEEDINGS{9294293,
author={A. {Barrera} and C. {Guindel} and J. {Beltrán} and F. {García}},
booktitle={2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
title={BirdNet+: End-to-End 3D Object Detection in LiDAR Bird’s Eye View},
year={2020},
pages={2985-2990},
doi={10.1109/ITSC45102.2020.9294293}
}

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) 92.61 % 86.73 % 81.80 %
Car (Orientation) 92.39 % 86.13 % 81.11 %
Car (3D Detection) 76.15 % 64.04 % 59.79 %
Car (Bird's Eye View) 87.43 % 81.85 % 75.36 %
Pedestrian (Detection) 54.78 % 47.50 % 45.53 %
Pedestrian (Orientation) 41.84 % 35.01 % 33.03 %
Pedestrian (3D Detection) 41.55 % 35.06 % 32.93 %
Pedestrian (Bird's Eye View) 48.90 % 42.87 % 40.59 %
Cyclist (Detection) 72.96 % 65.40 % 60.23 %
Cyclist (Orientation) 67.52 % 59.44 % 54.27 %
Cyclist (3D Detection) 65.67 % 53.84 % 49.06 %
Cyclist (Bird's Eye View) 70.84 % 59.58 % 54.20 %
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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