论文标题
AFDET：免费锚点一个阶段3D对象检测
AFDet: Anchor Free One Stage 3D Object Detection
论文作者
论文摘要
在嵌入式系统上操作的高效率云3D对象检测对于包括自动驾驶在内的许多机器人应用非常重要。大多数以前的作品都尝试使用基于锚的检测方法来解决它，这些方法带有两个缺点：后处理相对复杂且计算昂贵；调谐锚参数很棘手。我们是第一个使用无锚和非最大抑制作用的一个阶段检测器（称为AFDET）来解决这些缺点的人。可以在CNN加速器或具有简化后处理的GPU上有效处理整个AFDET。如果没有铃铛和口哨声，我们提出的AFDET可以在Kitti验证集和Waymo Open DataSet验证集上使用其他基于一个锚固的方法进行竞争性能。
High-efficiency point cloud 3D object detection operated on embedded systems is important for many robotics applications including autonomous driving. Most previous works try to solve it using anchor-based detection methods which come with two drawbacks: post-processing is relatively complex and computationally expensive; tuning anchor parameters is tricky. We are the first to address these drawbacks with an anchor free and Non-Maximum Suppression free one stage detector called AFDet. The entire AFDet can be processed efficiently on a CNN accelerator or a GPU with the simplified post-processing. Without bells and whistles, our proposed AFDet performs competitively with other one stage anchor-based methods on KITTI validation set and Waymo Open Dataset validation set.
