Method

Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds [la] [Complexer-YOLO]


Submitted on 16 Nov. 2018 13:55 by
Martin Simon (Valeo Schalter und Sensoren GmbH)

Running time:0.06 s
Environment:GPU @ 3.5 Ghz (C/C++)

Method Description:
Extension of ComplexYOLO, fusion with pixelwise
semantic segmentation.
https://arxiv.org/abs/1904.07537
Parameters:
Latex Bibtex:
@inproceedings{Simon_2019_CVPR_Workshops,
author = {Simon, Martin and Amende, Karl and
Kraus, Andrea and Honer, Jens and Samann, Timo
and Kaulbersch, Hauke and Milz, Stefan and
Michael Gross, Horst},
title = {Complexer-YOLO: Real-Time 3D Object
Detection and Tracking on Semantic Point
Clouds},
booktitle = {The IEEE Conference on Computer
Vision and Pattern Recognition (CVPR)
Workshops},
month = {June},
year = {2019}}

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) 88.11 % 79.31 % 79.11 %
Car (Orientation) 87.97 % 79.08 % 78.75 %
Car (3D Detection) 55.63 % 49.44 % 44.13 %
Car (Bird's Eye View) 74.23 % 66.07 % 65.70 %
Pedestrian (Detection) 42.63 % 36.10 % 35.57 %
Pedestrian (Orientation) 37.80 % 31.80 % 31.26 %
Pedestrian (3D Detection) 19.45 % 15.32 % 14.80 %
Pedestrian (Bird's Eye View) 22.00 % 20.88 % 20.81 %
Cyclist (Detection) 65.82 % 57.53 % 57.47 %
Cyclist (Orientation) 64.51 % 56.32 % 56.23 %
Cyclist (3D Detection) 28.36 % 23.48 % 22.85 %
Cyclist (Bird's Eye View) 36.12 % 30.16 % 26.01 %
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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