cross-cluster shifting
Cross-Cluster Shifting for Efficient and Effective 3D Object Detection in Autonomous Driving
Chen, Zhili, Pham, Kien T., Ye, Maosheng, Shen, Zhiqiang, Chen, Qifeng
We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of points. While this method effectively reduces computational demands and increases receptive fields, it will compromise the preservation of crucial non-local information for accurate 3D object detection, especially in the complex driving scenarios. To address this, we introduce an intriguing Cross-Cluster Shifting operation to unleash the representation capacity of the point-based detector by efficiently modeling longer-range inter-dependency while including only a negligible overhead. Concretely, the Cross-Cluster Shifting operation enhances the conventional design by shifting partial channels from neighboring clusters, which enables richer interaction with non-local regions and thus enlarges the receptive field of clusters. We conduct extensive experiments on the KITTI, Waymo, and nuScenes datasets, and the results demonstrate the state-of-the-art performance of Shift-SSD in both detection accuracy and runtime efficiency.
- Transportation > Ground > Road (0.61)
- Information Technology > Robotics & Automation (0.61)
- Automobiles & Trucks (0.61)
- Information Technology > Artificial Intelligence > Vision (1.00)
- Information Technology > Artificial Intelligence > Representation & Reasoning (0.94)
- Information Technology > Artificial Intelligence > Robots > Autonomous Vehicles (0.61)
- Information Technology > Artificial Intelligence > Machine Learning > Neural Networks > Deep Learning (0.46)