SRCN3D: Sparse R-CNN 3D Surround-View Camera Object Detection and Tracking for Autonomous Driving. (arXiv:2206.14451v1 [cs.CV])

Detection And Tracking of Moving Objects (DATMO) is an essential component in
environmental perception for autonomous driving. While 3D detectors using
surround-view cameras are just flourishing, there is a growing tendency of
using different transformer-based methods to learn queries in 3D space from 2D
feature maps of perspective view. This paper proposes Sparse R-CNN 3D (SRCN3D),
a novel two-stage fully-convolutional mapping pipeline for surround-view camera
detection and tracking. SRCN3D adopts a cascade structure with twin-track
update of both fixed number …

3d arxiv autonomous autonomous driving cnn cv detection driving r-cnn tracking