RQR3D reparametrizes oriented bounding box regression in BEV 3D detection as regressing a horizontal box plus corner offsets and achieves SOTA camera-radar performance on nuScenes with 67.5 NDS and 59.7 mAP.
Training is conducted over 20 epochs with a multi-step learning rate schedule: the learning rate is re- duced by a factor of 10 at epochs 15 and 18
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RQR3D: Reparametrizing the regression targets for BEV-based 3D object detection
RQR3D reparametrizes oriented bounding box regression in BEV 3D detection as regressing a horizontal box plus corner offsets and achieves SOTA camera-radar performance on nuScenes with 67.5 NDS and 59.7 mAP.