It's All Around You: Range-Guided Cylindrical Network for 3D Object Detection

Meytal Rapoport-Lavie, Dan Raviv

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2021 IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2992-3001
Number of pages10
ISBN (Electronic)9781665401913
DOIs
StatePublished - 2021
Event18th IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2021 - Virtual, Online, Canada
Duration: 11 Oct 202117 Oct 2021

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
Volume2021-October
ISSN (Print)1550-5499

Conference

Conference18th IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2021
Country/TerritoryCanada
CityVirtual, Online
Period11/10/2117/10/21

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