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ROA-BEV: 2D Region-Oriented Attention for BEV-based 3D Object Detection

arXiv 2410.10298 ↗First posted 14 Oct 2024cs.CVcited by 0

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Abstract (arXiv)

Vision-based Bird's-Eye-View (BEV) 3D object detection has recently become popular in autonomous driving. However, objects with a high similarity to the background from a camera perspective cannot be detected well by existing methods. In this paper, we propose a BEV-based 3D Object Detection Network with 2D Region-Oriented Attention (ROA-BEV), which enables the backbone to focus more on feature learning of the regions where objects exist. Moreover, our method further enhances the information feature learning ability of ROA through multi-scale structures. Each block of ROA utilizes a large kernel to ensure that the receptive field is large enough to catch information about large objects. Experiments on nuScenes show that ROA-BEV improves the performance based on BEVDepth. The source codes of this work will be available at https://github.com/DFLyan/ROA-BEV.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 29 of its 34 references that are in the map. First posted on arXiv 14 Oct 2024.

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29 of 34 references.

References · 29

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17 more
  1. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 572
  2. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 552
  3. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 447
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  9. 2019Learning Depth-Guided Convolutions for Monocular 3D Object Detectioncited by 169
  10. 2021Geometry Uncertainty Projection Network for Monocular 3D Object Detectioncited by 156
  11. 2022Advancing Plain Vision Transformer Towards Remote Sensing Foundation Modelcited by 149
  12. 2022PolarFormer: Multi-camera 3D Object Detection with Polar Transformercited by 147
  13. 2022More ConvNets in the 2020s: Scaling up Kernels Beyond 51x51 using Sparsitycited by 142
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  16. 2021P2T: Pyramid Pooling Transformer for Scene Understandingcited by 84
  17. 2023Far3D: Expanding the Horizon for Surround-view 3D Object Detectioncited by 70

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