Ret3D: Rethinking Object Relations for Efficient 3D Object Detection in Driving Scenes

Understand

Current efficient LiDAR-based detection frameworks are lacking in exploiting object relations, which naturally present in both spatial and temporal manners.

• To this end, we introduce a simple, efficient, and effective two-stage detector, termed as Ret3D.
• At the core of Ret3D is the utilization of novel intra-frame and inter-frame relation modules to capture the spatial and temporal relations accordingly.
• More Specifically, intra-frame relation module (IntraRM) encapsulates the intra-frame objects into a sparse graph and thus allows us to refine the object features through efficient message passing.