Method

AutoAlign [AutoAlign]
[Anonymous Submission]

Submitted on 31 Aug. 2021 11:46 by
[Anonymous Submission]

Running time:0.1 s
Environment:1 core @ 2.5 Ghz (Python)

Method Description:
In this paper, we propose \textit{AutoAlign}, an
automatic feature fusion strategy for 3D object
detection. Instead of establishing deterministic
correspondence with camera projection matrix, we
model the mapping relationship between the image
and point clouds with a learnable alignment map,
which enables our model to automate the alignment
of non-homogenous features in a dynamic and data-
driven manner.
Parameters:
\alpha=0.2
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) 95.15 % 91.87 % 89.21 %
Car (Orientation) 95.07 % 91.60 % 88.86 %
Car (3D Detection) 86.84 % 77.58 % 73.23 %
Car (Bird's Eye View) 91.72 % 87.60 % 84.44 %
Pedestrian (Detection) 70.17 % 59.48 % 55.37 %
Pedestrian (Orientation) 65.88 % 55.25 % 51.24 %
Pedestrian (3D Detection) 53.99 % 44.08 % 40.82 %
Pedestrian (Bird's Eye View) 59.28 % 49.27 % 46.14 %
Cyclist (Detection) 89.63 % 77.96 % 71.27 %
Cyclist (Orientation) 89.39 % 77.52 % 70.72 %
Cyclist (3D Detection) 80.41 % 64.36 % 56.88 %
Cyclist (Bird's Eye View) 85.98 % 70.55 % 63.39 %
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.
This figure as: png eps pdf txt gnuplot



2D object detection results.
This figure as: png eps pdf txt gnuplot



Orientation estimation results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot




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