• 综合
  • 标题
  • 关键词
  • 摘要
  • 学者
  • 期刊-刊名
  • 期刊-ISSN
  • 会议名称
搜索

作者:

Hou, Jiawei (Hou, Jiawei.) | Li, Xiaoyan (Li, Xiaoyan.) | Guan, Wenhao (Guan, Wenhao.) | Zhang, Gang (Zhang, Gang.) | Feng, Di (Feng, Di.) | Du, Yuheng (Du, Yuheng.) | Xue, Xiangyang (Xue, Xiangyang.) | Pu, Jian (Pu, Jian.)

收录:

EI Scopus

摘要:

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view (BEV) semantic segmentation. Recent researchers have extensively explored various aspects of this task, including view transformation techniques, ground-truth label generation, and elaborate network design, aiming to achieve superior performance. However, the inference speed, crucial for running on an autonomous vehicle, is neglected. To this end, a new method, dubbed FastOcc, is proposed. By carefully analyzing the network effect and latency from four parts, including the input image resolution, image backbone, view transformation, and occupancy prediction head, it is found that the occupancy prediction head holds considerable potential for accelerating the model while keeping its accuracy. Targeted at improving this component, the time-consuming 3D convolution network is replaced with a novel residual-like architecture, where features are mainly digested by a lightweight 2D BEV convolution network and compensated by integrating the 3D voxel features interpolated from the original image features. Experiments on the Occ3D-nuScenes benchmark demonstrate that our FastOcc achieves state-of-the-art results with a fast inference speed. © 2024 IEEE.

关键词:

Gluing Semantic Segmentation Macroinvertebrates Prediction models

作者机构:

  • [ 1 ] [Hou, Jiawei]Fudan University, School of Computer Science, Shanghai, China
  • [ 2 ] [Li, Xiaoyan]Beijing University of Technology, Faculty of Information Technology, Beijing; 100124, China
  • [ 3 ] [Guan, Wenhao]Fudan University, School of Computer Science, Shanghai, China
  • [ 4 ] [Zhang, Gang]Mogo Auto Intelligence and Telematics Information Technology Co., Ltd., China
  • [ 5 ] [Feng, Di]Mogo Auto Intelligence and Telematics Information Technology Co., Ltd., China
  • [ 6 ] [Du, Yuheng]Fudan University, School of Computer Science, Shanghai, China
  • [ 7 ] [Xue, Xiangyang]Fudan University, School of Computer Science, Shanghai, China
  • [ 8 ] [Pu, Jian]Fudan University, Institute of Science and Technology for Brain-Inspired Intelligence, Shanghai, China

通讯作者信息:

电子邮件地址:

查看成果更多字段

相关关键词:

来源 :

ISSN: 1050-4729

年份: 2024

页码: 16425-16431

语种: 英文

被引次数:

WoS核心集被引频次:

SCOPUS被引频次:

ESI高被引论文在榜: 0 展开所有

万方被引频次:

中文被引频次:

近30日浏览量: 1

归属院系:

在线人数/总访问数:416/4912111
地址:北京工业大学图书馆(北京市朝阳区平乐园100号 邮编:100124) 联系我们:010-67392185
版权所有:北京工业大学图书馆 站点建设与维护:北京爱琴海乐之技术有限公司