RTS3D: Real-time Stereo 3D Detection from 4D Feature-Consistency Embedding Space for Autonomous Driving

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	RTS3D: Real-time Stereo 3D Detection from 4D Feature-Consistency Embedding Space for Autonomous Driving
	Li PX(李培玄)2,3,4,5,6; Su S(苏顺)1,4,5,6; Zhao HC(赵怀慈)2,3,4,5
	2021
会议日期	Febuary 2-9, 2021
会议地点	ELECTR NETWORK
页码	1930-1939
英文摘要	Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on the stand-alone depth estimator, requiring a large number of pixel-wise annotations in the training stage and more computation in the inferencing stage, limits the scaling application in the real world. In this paper, we propose an efficient and accurate 3D object detection method from stereo images, named RTS3D. Different from the 3D occupancy space in the Pseudo-LiDAR similar methods, we design a novel 4D feature-consistent embedding (FCE) space as the intermediate representation of the 3D scene without depth supervision. The FCE space encodes the object's structural and semantic information by exploring the multi-scale feature consistency warped from stereo pair. Furthermore, a semantic-guided RBF (Radial Basis Function) and a structure-aware attention module are devised to reduce the influence of FCE space noise without instance mask supervision. Experiments on the KITTI benchmark show that RTS3D is the first true real-time system (FPS >24) for stereo image 3D detection meanwhile achieves 10% improvement in average precision comparing with the previous state-of-the-art method.
源文献作者	Association for the Advancement of Artificial Intelligence
产权排序	1
会议录	THIRTY-FIFTH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE, THIRTY-THIRD CONFERENCE ON INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE AND THE ELEVENTH SYMPOSIUM ON EDUCATIONAL ADVANCES IN ARTIFICIAL INTELLIGENCE
会议录出版者	AAAI
会议录出版地	Palo Alto, California
语种	英语
ISSN号	2159-5399
ISBN号	978-1-57735-866-4
WOS记录号	WOS:000680423502003
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29554]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Zhao HC(赵怀慈)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Key Lab of Image Understanding and Computer Vision, Liaoning Province 3.Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 6.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Li PX,Su S,Zhao HC. RTS3D: Real-time Stereo 3D Detection from 4D Feature-Consistency Embedding Space for Autonomous Driving[C]. 见:. ELECTR NETWORK. Febuary 2-9, 2021.