Method

Voxel-MAE: Masked Autoencoders for Self-supervised Pre-training Large-scale Point Clouds [Voxel-MAE+SECOND]
[Anonymous Submission]

Submitted on 31 Jan. 2023 02:48 by
[Anonymous Submission]

Running time:0.05 s
Environment:1 core @ 2.5 Ghz (Python + C/C++)

Method Description:
We introduce a masked autoencoding framework for
pre-training large-scale point clouds, dubbed
Voxel-MAE. We take advantage of the geometric
characteristics of large-scale point clouds, and
propose the range-aware random masking strategy
and binary voxel classification task.
Specifically, we transform point clouds into
volumetric representations, and randomly mask
voxels according to their distance to the capture
device. Voxel-MAE reconstructs the occupancy
values of masked voxels and distinguishes whether
the voxels contain point clouds.
Parameters:
TBD
Latex Bibtex:
TBD

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) 93.11 % 91.78 % 89.53 %
Car (Orientation) 93.07 % 91.53 % 89.16 %
Car (3D Detection) 80.11 % 72.87 % 69.43 %
Car (Bird's Eye View) 87.41 % 83.96 % 81.67 %
Pedestrian (Detection) 57.27 % 48.80 % 46.87 %
Pedestrian (Orientation) 52.89 % 44.22 % 42.04 %
Pedestrian (3D Detection) 39.18 % 32.60 % 30.62 %
Pedestrian (Bird's Eye View) 43.80 % 37.77 % 35.45 %
Cyclist (Detection) 82.55 % 72.09 % 65.45 %
Cyclist (Orientation) 81.91 % 71.38 % 64.83 %
Cyclist (3D Detection) 69.64 % 54.84 % 48.98 %
Cyclist (Bird's Eye View) 75.30 % 60.67 % 54.19 %
This table as LaTeX


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



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



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



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



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



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



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



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



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



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



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



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




eXTReMe Tracker