{"title":"SWFormer:用于点云中3D物体检测的稀疏窗口转换器","authors":"Pei Sun, Mingxing Tan, Weiyue Wang, Chenxi Liu, Fei Xia, Zhaoqi Leng, Drago Anguelov","doi":"10.48550/arXiv.2210.07372","DOIUrl":null,"url":null,"abstract":"3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper, we propose Sparse Window Transformer (SWFormer ), a scalable and accurate model for 3D object detection, which can take full advantage of the sparsity of point clouds. Built upon the idea of window-based Transformers, SWFormer converts 3D points into sparse voxels and windows, and then processes these variable-length sparse windows efficiently using a bucketing scheme. In addition to self-attention within each spatial window, our SWFormer also captures cross-window correlation with multi-scale feature fusion and window shifting operations. To further address the unique challenge of detecting 3D objects accurately from sparse features, we propose a new voxel diffusion technique. Experimental results on the Waymo Open Dataset show our SWFormer achieves state-of-the-art 73.36 L2 mAPH on vehicle and pedestrian for 3D object detection on the official test set, outperforming all previous single-stage and two-stage models, while being much more efficient.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"119 17","pages":"426-442"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"39","resultStr":"{\"title\":\"SWFormer: Sparse Window Transformer for 3D Object Detection in Point Clouds\",\"authors\":\"Pei Sun, Mingxing Tan, Weiyue Wang, Chenxi Liu, Fei Xia, Zhaoqi Leng, Drago Anguelov\",\"doi\":\"10.48550/arXiv.2210.07372\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper, we propose Sparse Window Transformer (SWFormer ), a scalable and accurate model for 3D object detection, which can take full advantage of the sparsity of point clouds. Built upon the idea of window-based Transformers, SWFormer converts 3D points into sparse voxels and windows, and then processes these variable-length sparse windows efficiently using a bucketing scheme. In addition to self-attention within each spatial window, our SWFormer also captures cross-window correlation with multi-scale feature fusion and window shifting operations. To further address the unique challenge of detecting 3D objects accurately from sparse features, we propose a new voxel diffusion technique. Experimental results on the Waymo Open Dataset show our SWFormer achieves state-of-the-art 73.36 L2 mAPH on vehicle and pedestrian for 3D object detection on the official test set, outperforming all previous single-stage and two-stage models, while being much more efficient.\",\"PeriodicalId\":72676,\"journal\":{\"name\":\"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision\",\"volume\":\"119 17\",\"pages\":\"426-442\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"39\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.48550/arXiv.2210.07372\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.48550/arXiv.2210.07372","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
SWFormer: Sparse Window Transformer for 3D Object Detection in Point Clouds
3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper, we propose Sparse Window Transformer (SWFormer ), a scalable and accurate model for 3D object detection, which can take full advantage of the sparsity of point clouds. Built upon the idea of window-based Transformers, SWFormer converts 3D points into sparse voxels and windows, and then processes these variable-length sparse windows efficiently using a bucketing scheme. In addition to self-attention within each spatial window, our SWFormer also captures cross-window correlation with multi-scale feature fusion and window shifting operations. To further address the unique challenge of detecting 3D objects accurately from sparse features, we propose a new voxel diffusion technique. Experimental results on the Waymo Open Dataset show our SWFormer achieves state-of-the-art 73.36 L2 mAPH on vehicle and pedestrian for 3D object detection on the official test set, outperforming all previous single-stage and two-stage models, while being much more efficient.