Research map / Detection and segmentation / 3D detection and driving
IDA-3D: Instance-Depth-Aware 3D Object Detection From Stereo Vision for Autonomous Driving
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use IDA-3D instead of Stereo R-CNN | stereo 3D detection · KITTI validation car, IoU 0.7 hard | AP3D: 31.07 -> 32.23 | Helped |
| Use nonuniform disparity quantization instead of uniform quantization (ablation) | IDA-3D · KITTI validation car, IoU 0.7 easy | AP3D: 34.57 -> 52.16 | Helped |
| Adapt the depth search range to the object box, in addition to nonuniform quantization (ablation) | IDA-3D · KITTI validation car, IoU 0.7 easy | AP3D: 52.16 -> 54.97 | Helped |
| Add difference-feature concatenation to depth attention (ablation) | IDA-3D matching-cost reweighting · KITTI validation car, IoU 0.7 easy | AP3D: 52.03 -> 54.97 | Helped |
| Add depth attention to difference-feature concatenation (ablation) | IDA-3D matching-cost reweighting · KITTI validation car, IoU 0.7 easy | AP3D: 52.17 -> 54.97 | Helped |
| Add difference-feature concatenation to depth attention (ablation) | IDA-3D matching-cost reweighting · KITTI validation car, IoU 0.7 moderate | AP3D: 35.47 -> 37.45 | Helped |
| Add depth attention to difference-feature concatenation (ablation) | IDA-3D matching-cost reweighting · KITTI validation car, IoU 0.7 moderate | AP3D: 36.85 -> 37.45 | Helped |
Closest papers by meaning
- Pseudo-LiDAR From Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving (CVPR 2019 · similarity 0.91)
- CorrBEV: Multi-View 3D Object Detection by Correlation Learning with Multi-modal Prototypes (CVPR 2025 · similarity 0.88)
- Training an Open-Vocabulary Monocular 3D Detection Model without 3D Data (NeurIPS 2024 · similarity 0.88)
- OpenAD: Open-World Autonomous Driving Benchmark for 3D Object Detection (NeurIPS 2025 · similarity 0.88)
- DALDet: Depth-Aware Learning Based Object Detection for Autonomous Driving (AAAI 2024 · similarity 0.88)
- Instance-Aware Multi-Camera 3D Object Detection with Structural Priors Mining and Self-Boosting Learning (AAAI 2024 · similarity 0.88)
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