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Published at December 5

Reflective Teacher: Semi-Supervised Multimodal 3D Object Detection in Bird's-Eye-View via Uncertainty Measure

cs.CV

Released Date: December 5, 2024

Authors: Saheli Hazra¹, Sudip Das², Rohit Choudhary³, Arindam Das⁴, Ganesh Sistu⁵, Ciaran Eising⁴, Ujjwal Bhattacharya¹

Aff.: ¹Indian Statistical Institute, Kolkata; ²Valeo India; ³IIT Madras, India; ⁴University of Limerick, Ireland; ⁵Valeo Vision Systems, Ireland

Arxiv: http://arxiv.org/pdf/2412.04337v1

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	Methods	mAP/mAPH		Vehicle AP/APH		Pedestrian AP/APH		Cyclist AP/APH
		L1	L2	L1	L2	L1	L2	L1	L2
Waymo Val set	CenterPoint-Voxel [40]	74.4/71.7	68.2/65.8	79.0/78.5	79.0/78.5	76.6/70.5	72.3/71.1	68.2/65.8	66.2/65.7
	Pillarnet-34 [47]	77.3/74.6	70.9/68.4	79.0/78.5	79.0/78.5	80.5/70.4	72.2/71.2	72.3/71.1	72.2/66.1
	FSD [48]	79.4/77.1	72.7/70.5	79.5/79.0	79.5/79.0	80.5/70.4	74.4/69.4	75.3/74.1	73.7/72.1
	Centerformer [49]	75.3/72.9	71.7/68.9	75.0/74.4	69.9/69.4	78.6/73.0	74.7/73.7	76.8/73.0	69.9/69.4
	Clusterformer [50]	81.4/79.0	74.6/72.3	79.8/77.9	75.7/70.7	84.4/79.0	80.0/77.6	80.0/78.7	77.4/76.6
	Clusterformer-3f [50]	83.3/81.7	77.7/76.2	81.4/79.3	79.7/76.1	85.9/82.7	82.5/81.6	82.5/81.6	79.6/78.7
	Ours	85.5/83.2	78.6/77.5	82.8/81.2	75.2/74.5	86.7/83.4	79.8/78.6	86.8/85.3	80.8/79.3
	Improvement	+2.2/+1.5	+0.9/+1.3	+1.4/+1.9	-4.5/-4.5	+0.8/+0.7	-2.7/-3.0	+4.3/+3.7	+1.2/+0.6
Waymo Test set	PV-RCNN++ [51]	77.9/75.6	72.4/70.1	81.6/81.2	81.6/81.2	78.1/70.2	74.1/69.0	71.9/70.7	69.2/68.1
	Pillarnet-34 [47]	78.1/75.9	71.7/69.7	79.3/78.8	79.3/78.8	81.3/76.3	77.3/72.7	73.7/72.7	71.2/70.2
	AFDetV2-lite [52]	77.5/75.2	72.2/70.0	80.5/80.0	80.5/80.0	80.5/78.0	73.0/72.6	72.4/71.2	68.7/67.4
	Clusterformer [50]	81.1/78.9	75.0/73.0	83.4/78.3	73.1/72.8	83.4/78.3	76.6/71.9	78.4/77.1	75.6/77.1
	Ours	85.9/84.1	78.4/75.9	84.8/83.9	78.4/77.5	87.9/83.9	79.9/77.0	85.1/84.6	76.8/78.1
	Improvement	+4.8/+5.2	+3.4/+2.9	+1.4/+2.7	-3.2/-3.7	+4.5/+5.6	+2.6/+4.3	+6.7/+7.5	+1.2/+1.0