MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting Through Multi-View Fusion of LiDAR Data

Ankit Laddha, Shivam Gautam, Stefan Palombo, Shreyash Pandey, Carlos Vallespi-Gonzalez

CVPRW 2021 pp. 2865-2874

doi:10.1109/CVPRW53098.2021.00321 /cvprw/2021/laddha2021cvprw-mvfusenet/

Abstract

In this work, we propose MVFuseNet, a novel end-to-end method for joint object detection and motion forecasting from a temporal sequence of LiDAR data. Most existing methods operate in a single view by projecting data in either range view (RV) or bird’s eye view (BEV). In contrast, we propose a method that effectively utilizes both RV and BEV for spatio-temporal feature learning as part of a temporal fusion network as well as for multi-scale feature learning in the backbone network. Further, we propose a novel sequential fusion approach that effectively utilizes multiple views in the temporal fusion network. We show the benefits of our multi-view approach for the tasks of detection and motion forecasting on two large-scale self-driving data sets, achieving state-of-the-art results. Furthermore, we show that MVFusenet scales well to large operating ranges while maintaining real-time performance.

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Cite

Text

Laddha et al. "MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting Through Multi-View Fusion of LiDAR Data." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2021. doi:10.1109/CVPRW53098.2021.00321

Markdown

[Laddha et al. "MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting Through Multi-View Fusion of LiDAR Data." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2021.](https://mlanthology.org/cvprw/2021/laddha2021cvprw-mvfusenet/) doi:10.1109/CVPRW53098.2021.00321

BibTeX

@inproceedings{laddha2021cvprw-mvfusenet,
  title     = {{MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting Through Multi-View Fusion of LiDAR Data}},
  author    = {Laddha, Ankit and Gautam, Shivam and Palombo, Stefan and Pandey, Shreyash and Vallespi-Gonzalez, Carlos},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops},
  year      = {2021},
  pages     = {2865-2874},
  doi       = {10.1109/CVPRW53098.2021.00321},
  url       = {https://mlanthology.org/cvprw/2021/laddha2021cvprw-mvfusenet/}
}