Shaoyu Chen , Xinggang Wang , Tianheng Cheng , Qian Zhang , Chang Huang , Wenyu Liu
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引用次数: 0
Abstract
3D detection based on surround-view camera system is a critical and promising technique in autopilot. In this work, we exploit the view symmetry of surround-view camera system as inductive bias to improve optimization and boost performance. We parameterize object’s position by polar coordinate and decompose velocity along radial and tangential direction. And the perception range, label assignment and loss function are correspondingly reformulated in polar coordinate system. This new Polar Parametrization scheme establishes explicit associations between image patterns and prediction targets. Based on it, we propose a surround-view 3D detection method, termed PolarDETR. PolarDETR achieves competitive performance on nuScenes dataset. Thorough ablation studies are provided to validate the effectiveness.
期刊介绍：
Image and Vision Computing has as a primary aim the provision of an effective medium of interchange for the results of high quality theoretical and applied research fundamental to all aspects of image interpretation and computer vision. The journal publishes work that proposes new image interpretation and computer vision methodology or addresses the application of such methods to real world scenes. It seeks to strengthen a deeper understanding in the discipline by encouraging the quantitative comparison and performance evaluation of the proposed methodology. The coverage includes: image interpretation, scene modelling, object recognition and tracking, shape analysis, monitoring and surveillance, active vision and robotic systems, SLAM, biologically-inspired computer vision, motion analysis, stereo vision, document image understanding, character and handwritten text recognition, face and gesture recognition, biometrics, vision-based human-computer interaction, human activity and behavior understanding, data fusion from multiple sensor inputs, image databases.
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