MLOD: Awareness of Extrinsic Perturbation in Multi-LiDAR 3D Object Detection for Autonomous Driving
Jianhao Jiao,Peng Yun,Lei Tai,Ming Liu,Jianhao Jiao,Peng Yun,Lei Tai,Ming Liu
Extrinsic perturbation always exists in multiple sensors. In this paper, we focus on the extrinsic uncertainty in multi-LiDAR systems for 3D object detection. We first analyze the influence of extrinsic perturbation on geometric tasks with two basic examples. To minimize the detrimental effect of extrinsic perturbation, we propagate an uncertainty prior on each point of input point clouds, and use...
