TY - GEN
T1 - Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection
AU - Wang, Shihao
AU - Liu, Yingfei
AU - Wang, Tiancai
AU - Li, Ying
AU - Zhang, Xiangyu
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, we propose a long-sequence modeling framework, named StreamPETR, for multi-view 3D object detection. Built upon the sparse query design in the PETR series, we systematically develop an object-centric temporal mechanism. The model is performed in an online manner and the long-term historical information is propagated through object queries frame by frame. Besides, we introduce a motion-aware layer normalization to model the movement of the objects. StreamPETR achieves significant performance improvements only with negligible computation cost, compared to the single-frame baseline. On the standard nuScenes benchmark, it is the first online multi-view method that achieves comparable performance (67.6% NDS & 65.3% AMOTA) with lidar-based methods. The lightweight version realizes 45.0% mAP and 31.7 FPS, outperforming the state-of-the-art method (SOLOFusion) by 2.3% mAP and 1.8× faster FPS. Code has been available at https://github.com/exiawsh/StreamPETR.git.
AB - In this paper, we propose a long-sequence modeling framework, named StreamPETR, for multi-view 3D object detection. Built upon the sparse query design in the PETR series, we systematically develop an object-centric temporal mechanism. The model is performed in an online manner and the long-term historical information is propagated through object queries frame by frame. Besides, we introduce a motion-aware layer normalization to model the movement of the objects. StreamPETR achieves significant performance improvements only with negligible computation cost, compared to the single-frame baseline. On the standard nuScenes benchmark, it is the first online multi-view method that achieves comparable performance (67.6% NDS & 65.3% AMOTA) with lidar-based methods. The lightweight version realizes 45.0% mAP and 31.7 FPS, outperforming the state-of-the-art method (SOLOFusion) by 2.3% mAP and 1.8× faster FPS. Code has been available at https://github.com/exiawsh/StreamPETR.git.
UR - http://www.scopus.com/inward/record.url?scp=85179238749&partnerID=8YFLogxK
U2 - 10.1109/ICCV51070.2023.00335
DO - 10.1109/ICCV51070.2023.00335
M3 - Conference contribution
AN - SCOPUS:85179238749
T3 - Proceedings of the IEEE International Conference on Computer Vision
SP - 3598
EP - 3608
BT - Proceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
Y2 - 2 October 2023 through 6 October 2023
ER -