Cross-Cluster Shifting for Efficient and Effective 3D Object Detection in Autonomous Driving

• URL: http://arxiv.org/abs/2403.06166v1
• Date: Sun, 10 Mar 2024 10:36:32 GMT
• Title: Cross-Cluster Shifting for Efficient and Effective 3D Object Detection in Autonomous Driving
• Authors: Zhili Chen, Kien T. Pham, Maosheng Ye, Zhiqiang Shen, and Qifeng Chen
• Abstract summary: We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. We introduce an intriguing Cross-Cluster Shifting operation to unleash the representation capacity of the point-based detector. We conduct extensive experiments on the KITTI, runtime, and nuScenes datasets, and the results demonstrate the state-of-the-art performance of Shift-SSD.
• Score: 69.20604395205248
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of points. While this method effectively reduces computational demands and increases receptive fields, it will compromise the preservation of crucial non-local information for accurate 3D object detection, especially in the complex driving scenarios. To address this, we introduce an intriguing Cross-Cluster Shifting operation to unleash the representation capacity of the point-based detector by efficiently modeling longer-range inter-dependency while including only a negligible overhead. Concretely, the Cross-Cluster Shifting operation enhances the conventional design by shifting partial channels from neighboring clusters, which enables richer interaction with non-local regions and thus enlarges the receptive field of clusters. We conduct extensive experiments on the KITTI, Waymo, and nuScenes datasets, and the results demonstrate the state-of-the-art performance of Shift-SSD in both detection accuracy and runtime efficiency.

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