{"paper":{"title":"Revisiting 3D Object Detection From an Egocentric Perspective","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Boyang Deng, Charles R. Qi, Dragomir Anguelov, Mahyar Najibi, Thomas Funkhouser, Yin Zhou","submitted_at":"2021-12-14T23:24:25Z","abstract_excerpt":"3D object detection is a key module for safety-critical robotics applications such as autonomous driving. For these applications, we care most about how the detections affect the ego-agent's behavior and safety (the egocentric perspective). Intuitively, we seek more accurate descriptions of object geometry when it's more likely to interfere with the ego-agent's motion trajectory. However, current detection metrics, based on box Intersection-over-Union (IoU), are object-centric and aren't designed to capture the spatio-temporal relationship between objects and the ego-agent. To address this iss"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.07787","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2112.07787/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}