Log In Sign Up

MapFusion: A General Framework for 3D Object Detection with HDMaps

by   Jin Fang, et al.

3D object detection is a key perception component in autonomous driving. Most recent approaches are based on Lidar sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles, however, have not been well exploited for boosting object detection tasks. In this paper, we propose a simple but effective framework - MapFusion to integrate the map information into modern 3D object detector pipelines. In particular, we design a FeatureAgg module for HD Map feature extraction and fusion, and a MapSeg module as an auxiliary segmentation head for the detection backbone. Our proposed MapFusion is detector independent and can be easily integrated into different detectors. The experimental results of three different baselines on large public autonomous driving dataset demonstrate the superiority of the proposed framework. By fusing the map information, we can achieve 1.27 to 2.79 points improvements for mean Average Precision (mAP) on three strong 3d object detection baselines.


page 1

page 2

page 3

page 4

page 5

page 6

page 7


FusionPainting: Multimodal Fusion with Adaptive Attention for 3D Object Detection

Accurate detection of obstacles in 3D is an essential task for autonomou...

Fully Sparse 3D Object Detection

As the perception range of LiDAR increases, LiDAR-based 3D object detect...

HDNET: Exploiting HD Maps for 3D Object Detection

In this paper we show that High-Definition (HD) maps provide strong prio...

Real-Time And Robust 3D Object Detection with Roadside LiDARs

This work aims to address the challenges in autonomous driving by focusi...

Dynamic maps for automated driving and UAVs geofencing

The past few years have witnessed a remarkable rise in interest in drive...

High-Definition Map Generation Technologies For Autonomous Driving

Autonomous driving has been among the most popular and challenging topic...

3D for Free: Crossmodal Transfer Learning using HD Maps

3D object detection is a core perceptual challenge for robotics and auto...