Method

Dual-channel transformer-based network for Point-based 3D object detection [DTSSD]


Submitted on 22 Mar. 2023 08:17 by
jw zhao (sysu)

Running time:0.1 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
we propose a
dual-channel transformer-based feature encoding
network, which
integrates both set abstraction layer and
transformer block as
backbone. It enables the model to exploit fine-
grained as well
as long-range contextual information of objects,
thus providing
complementary relationship of two methods. In
addition, a
centroid estimation module is introduced to obtain
powerful
representation of the whole object. Finally,
considering the
significance of point density, which is crucial
for detection
performance, we propose a central density-aware
enhancement
module to equip center features with distinct
density features
Parameters:
TBD
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) 95.96 % 95.08 % 90.50 %
Car (Orientation) 95.95 % 94.98 % 90.35 %
Car (3D Detection) 88.62 % 79.94 % 74.91 %
Car (Bird's Eye View) 92.77 % 89.18 % 86.03 %
Pedestrian (Detection) 62.75 % 53.84 % 51.66 %
Pedestrian (Orientation) 60.61 % 51.27 % 48.88 %
Pedestrian (3D Detection) 45.03 % 38.75 % 36.70 %
Pedestrian (Bird's Eye View) 50.07 % 43.70 % 41.72 %
Cyclist (Detection) 87.11 % 75.55 % 69.43 %
Cyclist (Orientation) 86.89 % 75.19 % 69.05 %
Cyclist (3D Detection) 80.61 % 66.12 % 60.10 %
Cyclist (Bird's Eye View) 84.14 % 69.81 % 63.53 %
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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