Real-time 3D Object Detection using Feature Map Flow

In this paper, we present a real-time 3D detection approach considering time-spatial feature map aggregation from different time steps of deep neural model inference (named feature map flow, FMF). Proposed approach improves the quality of 3D detection center-based baseline and provides real-time per...

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Bibliographic Details
Published in:arXiv.org 2021-06
Main Authors: Murhij, Youshaa, Yudin, Dmitry
Format: Article
Language:English
Subjects:
Feature maps
Flow mapping
Object recognition
Real time
Online Access:Get full text
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Summary:In this paper, we present a real-time 3D detection approach considering time-spatial feature map aggregation from different time steps of deep neural model inference (named feature map flow, FMF). Proposed approach improves the quality of 3D detection center-based baseline and provides real-time performance on the nuScenes and Waymo benchmark. Code is available at https://github.com/YoushaaMurhij/FMFNet
ISSN:2331-8422