EC-IoU: Orienting Safety for Object Detectors via Ego-Centric Intersection-over-Union

• URL: http://arxiv.org/abs/2403.15474v2
• Date: Thu, 02 Jan 2025 11:28:39 GMT
• Title: EC-IoU: Orienting Safety for Object Detectors via Ego-Centric Intersection-over-Union
• Abstract summary: Ego-Centric Intersection-over-Union (EC-IoU) addresses the limitation of the standard IoU measure in characterizing safety-related performance for object detectors in navigating contexts.<n>We propose a weighting mechanism to refine IoU, allowing it to assign a higher score to a prediction that covers closer points of a ground-truth object from the ego agent's perspective.<n>The proposed EC-IoU measure can be used in typical evaluation processes to select object detectors with better safety-related performance for downstream tasks.
• Score: 7.355977594790584
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents Ego-Centric Intersection-over-Union (EC-IoU), addressing the limitation of the standard IoU measure in characterizing safety-related performance for object detectors in navigating contexts. Concretely, we propose a weighting mechanism to refine IoU, allowing it to assign a higher score to a prediction that covers closer points of a ground-truth object from the ego agent's perspective. The proposed EC-IoU measure can be used in typical evaluation processes to select object detectors with better safety-related performance for downstream tasks. It can also be integrated into common loss functions for model fine-tuning. While geared towards safety, our experiment with the KITTI dataset demonstrates the performance of a model trained on EC-IoU can be better than that of a variant trained on IoU in terms of mean Average Precision as well.

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