מושגי ליבה
高性能なSparse LiDAR-Camera Fusionによる3Dオブジェクト検出の提案と実験結果を示す。
תקציר
Sparse 3D detectors have lower performance compared to dense counterparts.
Key designs of SparseLIF: Perspective-Aware Query Generation, RoI-Aware Sampling, Uncertainty-Aware Fusion.
Achieved state-of-the-art performance on nuScenes dataset.
Detailed experiments and comparisons with other methods.
Ablation studies show the effectiveness of PAQG and UAF modules.
Robustness studies under challenging scenarios demonstrate the detector's capability.
סטטיסטיקה
By the time of submission (2024/03/08), SparseLIF achieves state-of-the-art performance on the nuScenes dataset, ranking 1st on both validation set and test benchmark.