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@minh33

【3D Object Detection】EA-LSS

Last updated at Posted at 2023-10-20

概要

BEVでのLiDARとCameraのFusionではCameraのDepthが不正確でLiDAR単体に対してPefromanceがそこまで上がらないという課題があった。そこでEA-LSSモジュールを追加し、カメラでの距離推定を向上させ、最終的な3次元物体認識の精度を上げる。
image.png

EADF Module

  1. LiDARの点群をCameraにProjectionする
  2. kxkのカーネルを使ってMaxPoolingする
  3. ←↑↓→の四方向のEdgeを検出するためSobel Filterを使用する
  4. 得たEdge　Mapを0~1にNormalizationする

image.png

FGD Module

  1. CameraとLiDARの情報をFusionしたFeature Mapから、Transposed Convolutionを使って解像度をあげながら、Depthを推定する
    image.png

EA-LSS

  1. LiDARから得たDepth MapとEdge MapをCameraのFeature MapにConcatする
  2. Context Featureと推定したDepth distributionを使ってFrustum Featureを得る
  3. LiDARから得たDepth MapをGround Truthとして、推定したDepth MapのLossを計算する(FGD LossとDADF Loss)
    image.png
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