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Published at November 26

On-Road Object Importance Estimation: A New Dataset and A Model with Multi-Fold Top-Down Guidance

cs.RO

cs.CV

Released Date: November 26, 2024

Authors: Zhixiong Nan¹, Yilong Chen¹, Tianfei Zhou², Tao Xiang¹

Aff.: ¹College of Computer Science, Chongqing University, Chongqing, China; ²School of Computer Science and Technology, Beijing Institute of Technology, Beijing, China

Arxiv: http://arxiv.org/abs/2411.17152v1

Method	Inputs			TOI			Ohn-Bar			Speed (ms/clip)
Method	Video	Velocity	3D-Object	AP $\uparrow$	F1 $\uparrow$	Acc $\uparrow$	AP $\uparrow$	F1 $\uparrow$	Acc $\uparrow$	Speed (ms/clip)
Yolo				5	9	14	25	48	34	278
Ohn-Bar [33] PR’2017	✓	✓	✓	19	28	74	39	14	62	100
Goal [8] ICRA’2019	✓	✓		50	49	90	52	26	65	155
Zhang [50] ICRA’2020	✓			16	0	91	28	10	54	200
Li [21] ICRA’2022	✓	✓		23	0	91	41	0	64	202
MENet [23] CVPR’2023	✓			-	26	76	-	12	62	122
A2S [52] CVPR’2023	✓			-	9	78	-	18	61	120
PGNet [47] CVPR’2022	✓			-	30	84	-	27	55	130
Ours	✓	✓		60	54	92	64	53	69	115