PolarFormer: Multi-Camera 3D Object Detection with Polar Transformer
PolarFormer: Multi-Camera 3D Object Detection with Polar Transformer
3D object detection in autonomous driving aims to reason “what” and “where” the objects of interest present in a 3D world. Following the conventional wisdom of previous 2D object detection, existing methods often adopt the canonical Cartesian coordinate system with perpendicular axis. However, we conjugate that this does not fit …