LiDAR-BEVMTN: Real-Time LiDAR Bird's-Eye View Multi-Task Perception Network for Autonomous Driving

• URL: http://arxiv.org/abs/2307.08850v2
• Date: Mon, 18 Nov 2024 21:51:16 GMT
• Title: LiDAR-BEVMTN: Real-Time LiDAR Bird's-Eye View Multi-Task Perception Network for Autonomous Driving
• Authors: Sambit Mohapatra, Senthil Yogamani, Varun Ravi Kumar, Stefan Milz, Heinrich Gotzig, Patrick Mäder,
• Abstract summary: We present a real-time multi-task convolutional neural network for LiDAR-based object detection, semantics, and motion segmentation. We propose a novel Semantic Weighting and Guidance (SWAG) module to transfer semantic features for improved object detection selectively. We achieve state-of-the-art results for two tasks, semantic and motion segmentation, and close to state-of-the-art performance for 3D object detection.
• Score: 12.713417063678335
• License:
• Abstract: LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion estimation using LiDAR remains relatively unexplored, especially on automotive-grade embedded platforms. We present a real-time multi-task convolutional neural network for LiDAR-based object detection, semantics, and motion segmentation. The unified architecture comprises a shared encoder and task-specific decoders, enabling joint representation learning. We propose a novel Semantic Weighting and Guidance (SWAG) module to transfer semantic features for improved object detection selectively. Our heterogeneous training scheme combines diverse datasets and exploits complementary cues between tasks. The work provides the first embedded implementation unifying these key perception tasks from LiDAR point clouds achieving 3ms latency on the embedded NVIDIA Xavier platform. We achieve state-of-the-art results for two tasks, semantic and motion segmentation, and close to state-of-the-art performance for 3D object detection. By maximizing hardware efficiency and leveraging multi-task synergies, our method delivers an accurate and efficient solution tailored for real-world automated driving deployment. Qualitative results can be seen at https://youtu.be/H-hWRzv2lIY.

Related papers

• A Point-Based Approach to Efficient LiDAR Multi-Task Perception [49.91741677556553]
  PAttFormer is an efficient multi-task architecture for joint semantic segmentation and object detection in point clouds. Unlike other LiDAR-based multi-task architectures, our proposed PAttFormer does not require separate feature encoders for task-specific point cloud representations. Our evaluations show substantial gains from multi-task learning, improving LiDAR semantic segmentation by +1.7% in mIou and 3D object detection by +1.7% in mAP.
  arXiv  Detail & Related papers  (2024-04-19T11:24:34Z)
• Multi-task Learning for Real-time Autonomous Driving Leveraging Task-adaptive Attention Generator [15.94714567272497]
  We present a new real-time multi-task network adept at three vital autonomous driving tasks: monocular 3D object detection, semantic segmentation, and dense depth estimation. To counter the challenge of negative transfer, which is the prevalent issue in multi-task learning, we introduce a task-adaptive attention generator. Our rigorously optimized network, when tested on the Cityscapes-3D datasets, consistently outperforms various baseline models.
  arXiv  Detail & Related papers  (2024-03-06T05:04:40Z)
• LiDARFormer: A Unified Transformer-based Multi-task Network for LiDAR Perception [15.919789515451615]
  We introduce a new LiDAR multi-task learning paradigm based on the transformer. LiDARFormer exploits cross-task synergy to boost the performance of LiDAR perception tasks. LiDARFormer is evaluated on the large-scale nuScenes and the Open datasets for both 3D detection and semantic segmentation tasks.
  arXiv  Detail & Related papers  (2023-03-21T20:52:02Z)
• Visual Exemplar Driven Task-Prompting for Unified Perception in Autonomous Driving [100.3848723827869]
  We present an effective multi-task framework, VE-Prompt, which introduces visual exemplars via task-specific prompting. Specifically, we generate visual exemplars based on bounding boxes and color-based markers, which provide accurate visual appearances of target categories. We bridge transformer-based encoders and convolutional layers for efficient and accurate unified perception in autonomous driving.
  arXiv  Detail & Related papers  (2023-03-03T08:54:06Z)
• LiDAR-based 4D Panoptic Segmentation via Dynamic Shifting Network [56.71765153629892]
  We propose the Dynamic Shifting Network (DS-Net), which serves as an effective panoptic segmentation framework in the point cloud realm. Our proposed DS-Net achieves superior accuracies over current state-of-the-art methods in both tasks. We extend DS-Net to 4D panoptic LiDAR segmentation by the temporally unified instance clustering on aligned LiDAR frames.
  arXiv  Detail & Related papers  (2022-03-14T15:25:42Z)
• PillarGrid: Deep Learning-based Cooperative Perception for 3D Object Detection from Onboard-Roadside LiDAR [15.195933965761645]
  We propose textitPillarGrid, a novel cooperative perception method fusing information from multiple 3D LiDARs. PillarGrid consists of four main phases: 1) cooperative preprocessing of point clouds, 2) pillar-wise voxelization and feature extraction, 3) grid-wise deep fusion of features from multiple sensors, and 4) convolutional neural network (CNN)-based augmented 3D object detection. Extensive experimentation shows that PillarGrid outperforms the SOTA single-LiDAR-based 3D object detection methods with respect to both accuracy and range by a large margin.
  arXiv  Detail & Related papers  (2022-03-12T02:28:41Z)
• The Devil is in the Task: Exploiting Reciprocal Appearance-Localization Features for Monocular 3D Object Detection [62.1185839286255]
  Low-cost monocular 3D object detection plays a fundamental role in autonomous driving. We introduce a Dynamic Feature Reflecting Network, named DFR-Net. We rank 1st among all the monocular 3D object detectors in the KITTI test set.
  arXiv  Detail & Related papers  (2021-12-28T07:31:18Z)
• Learnable Online Graph Representations for 3D Multi-Object Tracking [156.58876381318402]
  We propose a unified and learning based approach to the 3D MOT problem. We employ a Neural Message Passing network for data association that is fully trainable. We show the merit of the proposed approach on the publicly available nuScenes dataset by achieving state-of-the-art performance of 65.6% AMOTA and 58% fewer ID-switches.
  arXiv  Detail & Related papers  (2021-04-23T17:59:28Z)
• A Simple and Efficient Multi-task Network for 3D Object Detection and Road Understanding [20.878931360708343]
  We show that it is possible to perform all perception tasks via a simple and efficient multi-task network. Our proposed network, LidarMTL, takes raw LiDAR point cloud as inputs, and predicts six perception outputs for 3D object detection and road understanding.
  arXiv  Detail & Related papers  (2021-03-06T08:00:26Z)
• LiDAR-based Panoptic Segmentation via Dynamic Shifting Network [56.71765153629892]
  LiDAR-based panoptic segmentation aims to parse both objects and scenes in a unified manner. We propose the Dynamic Shifting Network (DS-Net), which serves as an effective panoptic segmentation framework in the point cloud realm. Our proposed DS-Net achieves superior accuracies over current state-of-the-art methods.
  arXiv  Detail & Related papers  (2020-11-24T08:44:46Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.