Polar Parametrization for Vision-based Surround-View 3D Detection. (arXiv:2206.10965v1 [cs.CV])

3D detection based on surround-view camera system is a critical technique in
autopilot. In this work, we present Polar Parametrization for 3D detection,
which reformulates position parametrization, velocity decomposition, perception
range, label assignment and loss function in polar coordinate system. Polar
Parametrization establishes explicit associations between image patterns and
prediction targets, exploiting the view symmetry of surround-view cameras as
inductive bias to ease optimization and boost performance. Based on Polar
Parametrization, we propose a surround-view 3D DEtection TRansformer, named
PolarDETR. …

3d arxiv cv detection polar vision