Methodology for a Statistical Analysis of Influencing Factors on 3D Object Detection Performance

원문 초록

In automated driving, object detection is an essential task to perceive the environment by localizing and classifying objects. Most object detection algorithms are based on deep learning for superior performance. However, their black-box nature makes it challenging to ensure safety. In this paper, we propose a first-of-its-kind methodology for analyzing the influence of various factors related to the objects or the environment on the detection performance of both LiDAR- and camera-based 3D object detectors. We conduct a statistical univariate analysis between each factor and the detection error on pedestrians to compare their strength of influence. In addition to univariate analysis, we employ a Random Forest (RF) model to predict the errors of specific detectors based on the provided meta-information. To interpret the predictions of the RF and assess the importance of individual features, we compute Shapley Values. By considering feature dependencies, the RF captures more complex relationships between meta-information and detection errors, allowing a more nuanced analysis of the factors contributing to the observed errors. Recognizing the factors that influence detection performance helps identify performance insufficiencies in the trained object detector and supports the safe development of object detection systems.