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EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV Object Detection

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EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV Object Detection

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Citation

@article{hu2023ealss,
  title={EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV Object Detection},
  author={Haotian Hu and Fanyi Wang and Jingwen Su and Yaonong Wang and Laifeng Hu and Weiye Fang and Jingwei Xu and Zhiwang Zhang},
  journal={arXiv preprint arXiv:2303.17895},
  year={2023}
}

News

  • 2023.8.22 EA-LSS achieved the first place in the nuScenes 3D object detection leaderboard!
  • 2023.8.16 create README.md

leaderboard

Abstract

In recent years, great progress has been made in the Lift-Splat-Shot-based (LSS-based) 3D object detection method. However, inaccurate depth estimation remains an important constraint to the accuracy of camera-only and multi-modal 3D object detection models, especially in regions where the depth changes significantly (i.e., the ''depth jump'' problem). In this paper, we proposed a novel Edge-aware Lift-splat-shot (EA-LSS) framework. Specifically, edge-aware depth fusion (EADF) module is proposed to alleviate the ''depth jump'' problem and fine-grained depth (FGD) module to further enforce refined supervision on depth. Our EA-LSS framework is compatible for any LSS-based 3D object detection models, and effectively boosts their performances with negligible increment of inference time. Experiments on nuScenes benchmarks demonstrate that EA-LSS is effective in either camera-only or multi-modal models. It is worth mentioning that EA-LSS achieved the state-of-the-art performance on nuScenes test benchmarks with mAP and NDS of 76.6% and 77.6%, respectively.

Usage

 # Train the camera branch.
./tools/dist_train.sh configs/EALSS/cam_stream/ealss_4x8_20e_nusc_cam.py 8

 # Train the lidar branch to follow the transfusion fade strategy.
./tools/dist_train.sh configs/EALSS/lidar_stream/transfusion_nusc_voxel_L.py 8 

# After loading camera and lidar branch weights, the fusion module is trained.
./tools/dist_train.sh configs/EALSS/ealss_4x8_10e_nusc_aug_large.py 8

# Verification model
./tools/dist_test.sh configs/EALSS/ealss_4x8_10e_nusc_aug_large.py WEIGHT_PATH 8 --eval bbox

Main Result

nuScenes detection test

Method mAP NDS
BEVFusion(Peking University) 71.3 73.3
+EA-LSS 72.2 74.4
+EA-LSS* 76.6 77.6

*reprsent the test time augment and model ensemble.

nuScenes detection validation

Method mAP NDS Latency(ms)
BEVDepth-R50 33.0 43.6 110.3
+EA-LSS 33.4 44.1 110.3
Tig-bev 33.8 37.5 68.0
+EA-LSS 35.9 40.7 68.0
BEVFusion(MIT) 68.5 71.4 119.2
+EA-LSS 69.4 71.8 123.6
BEVFusion(Peking University) 69.6 72.1 190.3
+EA-LSS 71.2 73.1 194.9

Visualization results

nuScenes 3D object detection

Visualization

Acknowlegement

We sincerely thank the authors of BEVFusion(Peking University), BEVFusion(MIT), mmdetection3d, TransFusion for open sourcing their methods.

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