Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Net

• URL: http://arxiv.org/abs/2012.12395v1
• Date: Tue, 22 Dec 2020 22:43:35 GMT
• Title: Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Net
• Authors: Wenjie Luo, Bin Yang, Raquel Urtasun
• Abstract summary: We propose a novel deep neural network that is able to jointly reason about 3D detection, tracking and motion forecasting given data captured by a 3D sensor. Our approach performs 3D convolutions across space and time over a bird's eye view representation of the 3D world.
• Score: 93.51773847125014
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: In this paper we propose a novel deep neural network that is able to jointly reason about 3D detection, tracking and motion forecasting given data captured by a 3D sensor. By jointly reasoning about these tasks, our holistic approach is more robust to occlusion as well as sparse data at range. Our approach performs 3D convolutions across space and time over a bird's eye view representation of the 3D world, which is very efficient in terms of both memory and computation. Our experiments on a new very large scale dataset captured in several north american cities, show that we can outperform the state-of-the-art by a large margin. Importantly, by sharing computation we can perform all tasks in as little as 30 ms.

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