FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird's-Eye View and Perspective View
| Autor: | Hou, Jiawei, Li, Xiaoyan, Guan, Wenhao, Zhang, Gang, Feng, Di, Du, Yuheng, Xue, Xiangyang, Pu, Jian |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | 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. Comment: Accepted by ICRA 2024 |
| Databáze: | arXiv |
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