2023/10/07 by Jiawei Yao, Yingxin Lai, Yao, Jiawei +4
Computer Science · #Advanced Image and Video Retrieval Techniques #Advanced Neural Network Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2310.05989
openalex publication_date 2023/10/07 · openalex created_date 2023/10/12 · openalex updated_date 2026/07/28
3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in 3D object detection to adaptively capture and process the complex spatio-temporal relationships present in these scenes. However, prior implementations of dynamic queries have often faced difficulties in effectively leveraging these relationships, particularly when it comes to integrating temporal information in a computationally efficient manner. Addressing this limitation, we introduce a framework utilizing dynamic query evolution strategy, harnesses K-means clustering and Top-K attention mechanisms for refined spatio-temporal data processing. By dynamically segmenting the BEV space and prioritizing key features through Top-K attention, our model achieves a real-time, focused analysis of pertinent scene elements. Our extensive evaluation on the nuScenes and Waymo dataset showcases a marked improvement in detection accuracy, setting a new benchmark in the domain of query-based BEV object detection. Our dynamic query evolution strategy has the potential to push the boundaries of current BEV methods with enhanced adaptability and computational efficiency. Project page: https://github.com/Jiawei-Yao0812/QE-BEV