Method

Instance Aware Single-Stage 3D Object Detector [IA-SSD (single)]
https://github.com/yifanzhang713/IA-SSD

Submitted on 3 Sep. 2021 20:14 by
Yifan Zhang (NUDT)

Running time:0.013 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
TBD
Parameters:
TBD
Latex Bibtex:
@inproceedings{zhang2022not,
title={Not All Points Are Equal: Learning Highly
Efficient Point-based Detectors for 3D LiDAR Point
Clouds},
author={Zhang, Yifan and Hu, Qingyong and Xu,
Guoquan and Ma, Yanxin and Wan, Jianwei and Guo,
Yulan},
booktitle={CVPR},
year={2022}
}

Detailed Results

Object detection and orientation estimation results. Results for object detection are given in terms of average precision (AP) and results for joint object detection and orientation estimation are provided in terms of average orientation similarity (AOS).


Benchmark Easy Moderate Hard
Car (Detection) 96.26 % 93.54 % 88.49 %
Car (Orientation) 96.23 % 93.41 % 88.34 %
Car (3D Detection) 88.87 % 80.32 % 75.10 %
Car (Bird's Eye View) 93.14 % 89.48 % 84.42 %
Pedestrian (Detection) 66.69 % 56.87 % 54.68 %
Pedestrian (Orientation) 62.90 % 52.69 % 50.27 %
Pedestrian (3D Detection) 47.90 % 41.03 % 37.98 %
Pedestrian (Bird's Eye View) 52.73 % 45.07 % 42.75 %
Cyclist (Detection) 88.99 % 78.71 % 72.03 %
Cyclist (Orientation) 88.78 % 78.34 % 71.63 %
Cyclist (3D Detection) 82.36 % 66.25 % 59.70 %
Cyclist (Bird's Eye View) 85.91 % 71.44 % 63.41 %
This table as LaTeX


2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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