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siaNMS: Non-Maximum Suppression with Siamese Networks for Multi-Camera 3D Object Detection

2020-02-19 15:32:38
Irene Cortes, Jorge Beltran, Arturo de la Escalera, Fernando Garcia
arXiv_CV
             
Abstract

The rapid development of embedded hardware in autonomous vehicles broadens their computational capabilities, thus bringing the possibility to mount more complete sensor setups able to handle driving scenarios of higher complexity. As a result, new challenges such as multiple detections of the same object have to be addressed. In this work, a siamese network is integrated into the pipeline of a well-known 3D object detector approach to suppress duplicate proposals coming from different cameras via re-identification. Additionally, associations are exploited to enhance the 3D box regression of the object by aggregating their corresponding LiDAR frustums. The experimental evaluation on the nuScenes dataset shows that the proposed method outperforms traditional NMS approaches.

Abstract (translated)

URL

https://arxiv.org/abs/2002.08239

PDF

https://arxiv.org/pdf/2002.08239.pdf

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