SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objects

arXiv:2403.20318v1 Announce Type: new
Abstract: Monocular 3D detectors achieve remarkable performance on cars and smaller objects. However, their performance drops on larger objects, leading to fatal accidents. Some attribute the failures to training data scarcity or their receptive field requirements of large objects. In this paper, we highlight this understudied problem of generalization to large objects. We find that modern frontal detectors struggle to generalize to large objects even on nearly balanced datasets. We argue that the cause of failure …

arxiv bird cs.ai cs.cv detection dice loss objects segmentation type view