Get distance of far objects by using reference objects with R4D

Get distance of far objects by using reference objects with R4D

R4D: Utilizing Reference Objects for Long-Range Distance Estimation

arXiv paper abstract https://arxiv.org/abs/2206.04831

arXiv PDF paper https://arxiv.org/pdf/2206.04831.pdf

Estimating the distance of objects is a safety-critical task for autonomous driving ... existing methods and datasets neglect ... long-range objects.

... introduce a challenging ... task ... Long-Range Distance Estimation, as well as two datasets to validate new methods developed for this task.

... propose R4D, the first framework to accurately estimate the distance of long-range objects by using references with known distances in the scene.

... R4D builds a graph by connecting a target object to all references ... encodes the relative distance

... attention module is then used to weigh the importance of reference objects and combine them into one target object distance prediction.

... demonstrate the effectiveness and robustness of R4D by showing significant improvements compared to existing baselines ...

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