{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/time-will-tell-new-outlooks-and-a-baseline","title":"Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detection","arxiv_id":"2210.02443","date":"2022-10-05","proceeding":null,"authors":["Jinhyung Park","Chenfeng Xu","Shijia Yang","Kurt Keutzer","Kris Kitani","Masayoshi Tomizuka","Wei Zhan"],"abstract":"While recent camera-only 3D detection methods leverage multiple timesteps, the limited history they use significantly hampers the extent to which temporal fusion can improve object perception. Observing that existing works' fusion of multi-frame images are instances of temporal stereo matching, we find that performance is hindered by the interplay between 1) the low granularity of matching resolution and 2) the sub-optimal multi-view setup produced by limited history usage. Our theoretical and empirical analysis demonstrates that the optimal temporal difference between views varies significantly for different pixels and depths, making it necessary to fuse many timesteps over long-term history. Building on our investigation, we propose to generate a cost volume from a long history of image observations, compensating for the coarse but efficient matching resolution with a more optimal multi-view matching setup. Further, we augment the per-frame monocular depth predictions used for long-term, coarse matching with short-term, fine-grained matching and find that long and short term temporal fusion are highly complementary. While maintaining high efficiency, our framework sets new state-of-the-art on nuScenes, achieving first place on the test set and outperforming previous best art by 5.2% mAP and 3.7% NDS on the validation set. Code will be released $\\href{https://github.com/Divadi/SOLOFusion}{here.}$","url_abs":"https://arxiv.org/abs/2210.02443v1","url_pdf":"https://arxiv.org/pdf/2210.02443v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"time-will-tell-new-outlooks-and-a-baseline","repo_url":"https://github.com/divadi/solofusion","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"robust-camera-only-3d-object-detection","task_name":"Robust Camera Only 3D Object Detection"},{"task_slug":"stereo-matching-1","task_name":"Stereo Matching"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[{"method_slug":"test","method_name":"Test"}],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/3d-object-detection-on-nuscenes-camera-only","task":"3D Object Detection","dataset":"nuScenes Camera Only","model":"SOLOFusion-pure","rank_in_archive_order":11,"of":19,"metrics":{"Future Frame":"false","NDS":"61.9"},"uses_additional_data":false}],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2210.02443","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2210.02443"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/divadi/solofusion","reach":{"status":"ok","spdx":"Apache-2.0"}}],"summary":{"ran":1,"unverified":4},"by_repo_kind":{"official":{"samples":5,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"e76a491553cf9fcf","entry":"process_checkpoint","repo":"divadi/solofusion","repo_kind":"official","path":".dev_scripts/gather_models.py","file_url":"https://github.com/divadi/solofusion/blob/HEAD/.dev_scripts/gather_models.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"e76a491553cf9fcf"}},{"code_sha256_prefix":"0f8a2e5b2473f982","entry":"generate_forward_transformation_matrix","repo":"divadi/solofusion","repo_kind":"official","path":"mmdet3d/models/detectors/solofusion.py","file_url":"https://github.com/divadi/solofusion/blob/HEAD/mmdet3d/models/detectors/solofusion.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"0f8a2e5b2473f982"}},{"code_sha256_prefix":"90f6ae7209cde36f","entry":"get_final_epoch","repo":"divadi/solofusion","repo_kind":"official","path":".dev_scripts/gather_models.py","file_url":"https://github.com/divadi/solofusion/blob/HEAD/.dev_scripts/gather_models.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"90f6ae7209cde36f"}},{"code_sha256_prefix":"da059252c88ecf40","entry":"get_model_dataset","repo":"divadi/solofusion","repo_kind":"official","path":".dev_scripts/gather_models.py","file_url":"https://github.com/divadi/solofusion/blob/HEAD/.dev_scripts/gather_models.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"da059252c88ecf40"}},{"code_sha256_prefix":"0953504a0c66c4c7","entry":"interp_zeroends","repo":"divadi/solofusion","repo_kind":"official","path":"mmdet3d/models/necks/view_transformer_solofusion.py","file_url":"https://github.com/divadi/solofusion/blob/HEAD/mmdet3d/models/necks/view_transformer_solofusion.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"0953504a0c66c4c7"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}