DeepAI
Log In Sign Up

CIA-SSD: Confident IoU-Aware Single-Stage Object Detector From Point Cloud

12/05/2020
by   Wu Zheng, et al.
0

Existing single-stage detectors for locating objects in point clouds often treat object localization and category classification as separate tasks, so the localization accuracy and classification confidence may not well align. To address this issue, we present a new single-stage detector named the Confident IoU-Aware Single-Stage object Detector (CIA-SSD). First, we design the lightweight Spatial-Semantic Feature Aggregation module to adaptively fuse high-level abstract semantic features and low-level spatial features for accurate predictions of bounding boxes and classification confidence. Also, the predicted confidence is further rectified with our designed IoU-aware confidence rectification module to make the confidence more consistent with the localization accuracy. Based on the rectified confidence, we further formulate the Distance-variant IoU-weighted NMS to obtain smoother regressions and avoid redundant predictions. We experiment CIA-SSD on 3D car detection in the KITTI test set and show that it attains top performance in terms of the official ranking metric (moderate AP 80.28 outperforming all prior single-stage detectors. The code is available at https://github.com/Vegeta2020/CIA-SSD.

READ FULL TEXT

page 2

page 3

page 5

08/31/2020

VarifocalNet: An IoU-aware Dense Object Detector

Accurately ranking a huge number of candidate detections is a key to the...
04/20/2021

SE-SSD: Self-Ensembling Single-Stage Object Detector From Point Cloud

We present Self-Ensembling Single-Stage object Detector (SE-SSD) for acc...
04/10/2020

3D IoU-Net: IoU Guided 3D Object Detector for Point Clouds

Most existing point cloud based 3D object detectors focus on the tasks o...
05/07/2021

Probabilistic Ranking-Aware Ensembles for Enhanced Object Detections

Model ensembles are becoming one of the most effective approaches for im...
07/03/2022

Boosting Single-Frame 3D Object Detection by Simulating Multi-Frame Point Clouds

To boost a detector for single-frame 3D object detection, we present a n...
07/17/2020

EPNet: Enhancing Point Features with Image Semantics for 3D Object Detection

In this paper, we aim at addressing two critical issues in the 3D detect...
05/29/2017

Ensemble of Part Detectors for Simultaneous Classification and Localization

Part-based representation has been proven to be effective for a variety ...

Code Repositories

CIA-SSD

The official codebase of the paper CIA-SSD: Confident IoU-Aware Single Stage Object Detector From Point Cloud.


view repo