7,768 research outputs found
Joint 3D Proposal Generation and Object Detection from View Aggregation
We present AVOD, an Aggregate View Object Detection network for autonomous
driving scenarios. The proposed neural network architecture uses LIDAR point
clouds and RGB images to generate features that are shared by two subnetworks:
a region proposal network (RPN) and a second stage detector network. The
proposed RPN uses a novel architecture capable of performing multimodal feature
fusion on high resolution feature maps to generate reliable 3D object proposals
for multiple object classes in road scenes. Using these proposals, the second
stage detection network performs accurate oriented 3D bounding box regression
and category classification to predict the extents, orientation, and
classification of objects in 3D space. Our proposed architecture is shown to
produce state of the art results on the KITTI 3D object detection benchmark
while running in real time with a low memory footprint, making it a suitable
candidate for deployment on autonomous vehicles. Code is at:
https://github.com/kujason/avodComment: For any inquiries contact aharakeh(at)uwaterloo(dot)c
Detecting Lesion Bounding Ellipses With Gaussian Proposal Networks
Lesions characterized by computed tomography (CT) scans, are arguably often
elliptical objects. However, current lesion detection systems are predominantly
adopted from the popular Region Proposal Networks (RPNs) that only propose
bounding boxes without fully leveraging the elliptical geometry of lesions. In
this paper, we present Gaussian Proposal Networks (GPNs), a novel extension to
RPNs, to detect lesion bounding ellipses. Instead of directly regressing the
rotation angle of the ellipse as the common practice, GPN represents bounding
ellipses as 2D Gaussian distributions on the image plain and minimizes the
Kullback-Leibler (KL) divergence between the proposed Gaussian and the ground
truth Gaussian for object localization. We show the KL divergence loss
approximately incarnates the regression loss in the RPN framework when the
rotation angle is 0. Experiments on the DeepLesion dataset show that GPN
significantly outperforms RPN for lesion bounding ellipse detection thanks to
lower localization error. GPN is open sourced at
https://github.com/baidu-research/GP
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