SRCN3D: Sparse R-CNN 3D Surround-View Camera Object Detection and Tracking for Autonomous Driving. (arXiv:2206.14451v2 [cs.CV] UPDATED)

Detection and tracking of moving objects (DATMO) is an essential component in
environmental perception for autonomous driving. In the flourishing field of
multi-view 3D camera-based detectors, different transformer-based pipelines are
designed to learn queries in 3D space from 2D feature maps of perspective
views, but the dominant dense cross-attention mechanism between queries to
values is computationally inefficient. This paper proposes Sparse R-CNN 3D
(SRCN3D), a novel two-stage fully-sparse detector with sparse queries, sparse
attention and sparse prediction for surround-view camera …

arxiv autonomous autonomous driving cnn detection driving r-cnn tracking