Method

MonoSIM: Simulating Learning Behaviors of Heterogeneous Point Cloud Object Detectors for Monocular 3 [MonoSIM_v2]


Submitted on 22 Feb. 2024 14:50 by
sun han (NJUST)

Running time:0.03 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
The insight behind introducing MonoSIM is that we
propose to simulate the feature learning behaviors
of two heterogeneous object detectors.
During the training period, monocular detectors
simulate the learning behaviors of the target
point cloud based detector.
Hence, during the inference period, the steps of
feature extraction and prediction process would be
similar to the point cloud based detector as
possible. To achieve it, we propose one scene-
level simulation module, one RoI-level simulation
module, and one response-level simulation module,
which are progressively used for the detector's
complete feature learning and prediction pipeline.
Parameters:
\alpha=1
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) 95.91 % 90.12 % 80.67 %
Car (Orientation) 95.40 % 89.09 % 79.40 %
Car (3D Detection) 21.69 % 14.74 % 13.08 %
Car (Bird's Eye View) 30.36 % 21.19 % 18.45 %
Pedestrian (Detection) 63.65 % 49.01 % 42.86 %
Pedestrian (Orientation) 56.78 % 43.09 % 37.54 %
Pedestrian (3D Detection) 11.90 % 7.52 % 6.66 %
Pedestrian (Bird's Eye View) 13.13 % 8.62 % 7.27 %
Cyclist (Detection) 68.66 % 48.20 % 41.69 %
Cyclist (Orientation) 58.96 % 40.72 % 35.22 %
Cyclist (3D Detection) 8.23 % 4.64 % 3.91 %
Cyclist (Bird's Eye View) 9.09 % 5.61 % 4.77 %
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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