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Although object detection has reached a milestone thanks to the great success of deep learning, the scale variation is still the key challenge. Integrating multi-level features is presented to alleviate the problems, like the classic Feature Pyramid Network (FPN) and its improvements. However, the specifically designed feature integration modules of these methods may not have the optimal architecture for feature fusion. Moreover, these models have fixed architectures and data flow paths, when fed with various samples. They cannot adjust and be compatible with each kind of data. To overcome the above limitations, we propose a Dynamic Sample-Individualized Connector (DSIC) for multi-scale object detection. It dynamically adjusts network connections to fit different samples. In particular, DSIC consists of two components: Intra-scale Selection Gate (ISG) and Cross-scale Selection Gate (CSG). ISG adaptively extracts multi-level features from backbone as the input of feature integration. CSG automatically activate informative data flow paths based on the multi-level features. Furthermore, these two components are both plug-and-play and can be embedded in any backbone. Experimental results demonstrate that the proposed method outperforms the state-of-the-arts.
With the continuous improvement of the performance of object detectors via advanced model architectures, imbalance problems in the training process have received more attention. It is a common paradigm in object detection frameworks to perform multi-
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3D multi-object tracking is an important component in robotic perception systems such as self-driving vehicles. Recent work follows a tracking-by-detection pipeline, which aims to match past tracklets with detections in the current frame. To avoid ma
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