Nội dung được dịch bởi AI, chỉ mang tính chất tham khảo
Stereo Frustums: a Siamese Pipeline for 3D Object Detection
Tóm tắt
Bài báo đề xuất một mô-đun ghép cặp hình chóp stereo nhẹ cho phát hiện đối tượng 3D. Khung công tác được đề xuất tận dụng một trình phát hiện 2D có hiệu năng cao và một mạng phân khúc điểm mây để hồi quy các hộp giới hạn 3D cho các phương tiện lái tự động. Thay vì thực hiện ghép cặp stereo truyền thống để tính toán độ chênh lệch, mô-đun này trực tiếp nhận các đề xuất 2D từ cả hai góc nhìn trái và phải làm đầu vào. Dựa trên các ràng buộc epipolar được phục hồi từ các camera stereo đã được hiệu chuẩn tốt, chúng tôi đề xuất bốn thuật toán ghép cặp để tìm kiếm ghép cặp tốt nhất cho mỗi đề xuất giữa các cặp hình ảnh stereo. Mỗi cặp ghép cặp góp phần phân đoạn cảnh vật, sau đó được đưa vào một mạng hồi quy hộp giới hạn 3D. Kết quả từ các thí nghiệm mở rộng trên tập dữ liệu KITTI cho thấy rằng ống dẫn Siamese được đề xuất vượt trội hơn so với các phương pháp hồi quy hộp giới hạn 3D dựa trên stereo tiên tiến nhất hiện nay.
Từ khóa
#Phát hiện đối tượng 3D #Hộp giới hạn 3D #Ghép cặp hình chóp stereo #Mạng phân khúc điểm mây #Khung công tác SiameseTài liệu tham khảo
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