TY - GEN
T1 - It's All Around You
T2 - 18th IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2021
AU - Rapoport-Lavie, Meytal
AU - Raviv, Dan
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Modern perception systems in the field of autonomous driving rely on 3D data analysis. LiDAR sensors are frequently used to acquire such data due to their increased resilience to different lighting conditions. Although rotating LiDAR scanners produce ring-shaped patterns in space, most networks analyze their data using an orthogonal voxel sampling strategy. This work presents a novel approach for analyzing 3D data produced by 360-degree depth scanners, utilizing a more suitable coordinate system, which is aligned with the scanning pattern. Furthermore, we intro-duce a novel notion of range-guided convolutions, adapting the receptive field by distance from the ego vehicle and the object's scale. Our network demonstrates powerful results on the competitive nuScenes 3D object detection challenge, comparable to current state-of-the-art architectures.
AB - Modern perception systems in the field of autonomous driving rely on 3D data analysis. LiDAR sensors are frequently used to acquire such data due to their increased resilience to different lighting conditions. Although rotating LiDAR scanners produce ring-shaped patterns in space, most networks analyze their data using an orthogonal voxel sampling strategy. This work presents a novel approach for analyzing 3D data produced by 360-degree depth scanners, utilizing a more suitable coordinate system, which is aligned with the scanning pattern. Furthermore, we intro-duce a novel notion of range-guided convolutions, adapting the receptive field by distance from the ego vehicle and the object's scale. Our network demonstrates powerful results on the competitive nuScenes 3D object detection challenge, comparable to current state-of-the-art architectures.
UR - http://www.scopus.com/inward/record.url?scp=85123058317&partnerID=8YFLogxK
U2 - 10.1109/ICCVW54120.2021.00334
DO - 10.1109/ICCVW54120.2021.00334
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AN - SCOPUS:85123058317
T3 - Proceedings of the IEEE International Conference on Computer Vision
SP - 2992
EP - 3001
BT - Proceedings - 2021 IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 11 October 2021 through 17 October 2021
ER -