Are We Ready for Vision-Centric Driving Streaming Perception? The ASAP Benchmark

Understand

In recent years, vision-centric perception has flourished in various autonomous driving tasks, including 3D detection, semantic map construction, motion forecasting, and depth estimation.

• Nevertheless, the latency of vision-centric approaches is too high for practical deployment (e.g., most camera-based 3D detectors have a runtime greater than 300ms).
• To bridge the gap between ideal research and real-world applications, it is necessary to quantify the trade-off between performance and efficiency.
• Traditionally, autonomous-driving perception benchmarks perform the offline evaluation, neglecting the inference time delay.