arXiv:2604.14563cs.CV2026-04中稿 · CVPR被引 1

动态调整图像块大小,提速57%且不丢检测精度。

Revisiting Token Compression for Accelerating ViT-based Sparse Multi-View 3D Object Detectors

论文配图:Revisiting Token Compression for Accelerating ViT-based Sparse Multi-View 3D Object Detectors
图 1 · 摘自论文原文
  • 根据场景复杂度动态调节图像块大小,近处用小块保留细节。
  • 在nuScenes和Argoverse 2上实现57%加速,效率比SOTA高20%。
  • 适合需要高速3D目标检测的自动驾驶系统使用。

基于视觉变换器(ViT)的稀疏多视角3D目标检测器虽精度高,但推理延迟大,主要因令牌处理负担重。现有令牌压缩方法如裁剪、合并和扩大块尺寸常导致背景信息丢失、上下文不一致和细粒度语义缺失,影响3D检测性能。为此,本文提出SEPatch3D框架,通过动态调整块大小,在保留关键语义的同时提升效率。设计时空感知块尺寸选择(SPSS),对含近距离物体的场景使用小块以保细节,对纯背景场景使用大块以降计算量;引入信息性块选择(IPS)筛选关键块进行特征优化,并通过跨粒度特征增强(CGFE)将细粒度信息注入粗块,丰富语义表达。在nuScenes与Argoverse 2验证集上的实验表明,SEPatch3D相比StreamPETR基线实现最高57%的推理加速,较当前最优方法ToC3D-faster提升20%效率,同时保持相近检测精度。代码已开源。

原文摘要 · Abstract (English)

Vision Transformer (ViT)-based sparse multi-view 3D object detectors have achieved remarkable accuracy but still suffer from high inference latency due to heavy token processing. To accelerate these models, token compression has been widely explored. However, our revisit of existing strategies, such as token pruning, merging, and patch size enlargement, reveals that they often discard informative background cues, disrupt contextual consistency, and lose fine-grained semantics, negatively affecting 3D detection. To overcome these limitations, we propose SEPatch3D, a novel framework that dynamically adjusts patch sizes while preserving critical semantic information within coarse patches. Specifically, we design Spatiotemporal-aware Patch Size Selection (SPSS) that assigns small patches to scenes containing nearby objects to preserve fine details and large patches to background-dominated scenes to reduce computation cost. To further mitigate potential detail loss, Informative Patch Selection (IPS) selects the informative patches for feature refinement, and Cross-Granularity Feature Enhancement (CGFE) injects fine-grained details into selected coarse patches, enriching semantic features. Experiments on the nuScenes and Argoverse 2 validation sets show that SEPatch3D achieves up to \textbf{57\%} faster inference than the StreamPETR baseline and \textbf{20\%} higher efficiency than the state-of-the-art ToC3D-faster, while preserving comparable detection accuracy. Code is available at https://github.com/Mingqj/SEPatch3D.

3D检测ViT加速动态块大小自动驾驶

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