安全なリアルタイムシステムに向けて：3D物体検出におけるステレオと画像・LiDARの比較
Towards Safe, Real-Time Systems: Stereo vs Images and LiDAR for 3D Object Detection
ステレオ視が単眼画像やLiDARの代替として物体検出に有効かを検証し、従来の視差アルゴリズムを用いたマルチモーダル学習がパラメータ数を増やさず画像ベースの性能を向上させること、またステレオ誤差を学習することでLiDARに近い3D位置推定能力が得られることを示した。さらにKITTIデータセットの評価指標計算における一般的な誤りを指摘し、効率的で証明可能な正しい代替手法を提案した。
著者: Matthew Levine
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
As object detectors rapidly improve, attention has expanded past image-only networks to include a range of 3D and multimodal frameworks, especially ones that incorporate LiDAR. However, due to cost, logistics, and even some safety considerations, stereo can be an appealing alternative. Towards understanding the efficacy of stereo as a replacement for monocular input or LiDAR in object detectors, we show that multimodal learning with traditional disparity algorithms can improve image-based results without increasing the number of parameters, and that learning over stereo error can impart similar 3D localization power to LiDAR in certain contexts. Furthermore, doing so also has calibration benefits with respect to image-only methods. We benchmark on the public dataset KITTI, and in doing so, reveal a few small but common algorithmic mistakes currently used in computing metrics on that set, and offer efficient, provably correct alternatives.