PLUME: Efficient 3D Object Detection from Stereo Images

01/17/2021
by   Yan Wang, et al.
14

3D object detection plays a significant role in various robotic applications including self-driving. While many approaches rely on expensive 3D sensors like LiDAR to produce accurate 3D estimates, stereo-based methods have recently shown promising results at a lower cost. Existing methods tackle the problem in two steps: first depth estimation is performed, a pseudo LiDAR point cloud representation is computed from the depth estimates, and then object detection is performed in 3D space. However, because the two separate tasks are optimized in different metric spaces, the depth estimation is biased towards big objects and may cause sub-optimal performance of 3D detection. In this paper we propose a model that unifies these two tasks in the same metric space for the first time. Specifically, our model directly constructs a pseudo LiDAR feature volume (PLUME) in 3D space, which is used to solve both occupancy estimation and object detection tasks. PLUME achieves state-of-the-art performance on the challenging KITTI benchmark, with significantly reduced inference time compared with existing methods.

READ FULL TEXT

page 2

page 3

page 4

page 8

06/14/2019

Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving

Detecting objects such as cars and pedestrians in 3D plays an indispensa...
08/22/2021

SIDE: Center-based Stereo 3D Detector with Structure-aware Instance Depth Estimation

3D detection plays an indispensable role in environment perception. Due ...
06/28/2022

Accurate and Real-time Pseudo Lidar Detection: Is Stereo Neural Network Really Necessary?

The proposal of Pseudo-Lidar representation has significantly narrowed t...
06/18/2021

Shape Prior Non-Uniform Sampling Guided Real-time Stereo 3D Object Detection

Pseudo-LiDAR based 3D object detectors have gained popularity due to the...
11/29/2019

FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans

Acquiring accurate three-dimensional depth information conventionally re...
12/10/2020

Demystifying Pseudo-LiDAR for Monocular 3D Object Detection

Pseudo-LiDAR-based methods for monocular 3D object detection have genera...
07/28/2021

Pseudo-LiDAR Based Road Detection

Road detection is a critically important task for self-driving cars. By ...