MsSVT++ : Mixed-Scale Sparse Voxel Transformer With Center Voting for 3D Object Detection
Accurate 3D object detection in large-scale outdoor scenes, characterized by considerable variations in object scales, necessitates features rich in both long-range and fine-grained information. While recent detectors have utilized window-based transformers to model long-range dependencies, they ten...
| Veröffentlicht in: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 46(2024), 5 vom: 03. Apr., Seite 3736-3752 |
|---|---|
| 1. Verfasser: | |
| Weitere Verfasser: | , , |
| Format: | Online-Aufsatz |
| Sprache: | English |
| Veröffentlicht: |
2024
|
| Zugriff auf das übergeordnete Werk: | IEEE transactions on pattern analysis and machine intelligence |
| Schlagworte: | Journal Article |
| Zusammenfassung: | Accurate 3D object detection in large-scale outdoor scenes, characterized by considerable variations in object scales, necessitates features rich in both long-range and fine-grained information. While recent detectors have utilized window-based transformers to model long-range dependencies, they tend to overlook fine-grained details. To bridge this gap, we propose MsSVT++, an innovative Mixed-scale Sparse Voxel Transformer that simultaneously captures both types of information through a divide-and-conquer approach. This approach involves explicitly dividing attention heads into multiple groups, each responsible for attending to information within a specific range. The outputs of these groups are subsequently merged to obtain final mixed-scale features. To mitigate the computational complexity associated with applying a window-based transformer in 3D voxel space, we introduce a novel Chessboard Sampling strategy and implement voxel sampling and gathering operations sparsely using a hash map. Moreover, an important challenge stems from the observation that non-empty voxels are primarily located on the surface of objects, which impedes the accurate estimation of bounding boxes. To overcome this challenge, we introduce a Center Voting module that integrates newly voted voxels enriched with mixed-scale contextual information towards the centers of the objects, thereby improving precise object localization. Extensive experiments demonstrate that our single-stage detector, built upon the foundation of MsSVT++, consistently delivers exceptional performance across diverse datasets |
|---|---|
| Beschreibung: | Date Revised 03.04.2024 published: Print-Electronic Citation Status PubMed-not-MEDLINE |
| ISSN: | 1939-3539 |
| DOI: | 10.1109/TPAMI.2023.3345880 |