Method

Center3D: Center-based Monocular 3D Object Detection with Joint Depth Understanding [Center3D]
[Anonymous Submission]

Submitted on 16 Jul. 2020 10:57 by
[Anonymous Submission]

Running time:0.05 s
Environment:GPU @ 3.5 Ghz (Python)

Method Description:
Center3D is a one-stage anchor-free approach, to efficiently estimate 3D location and depth using only monocular RGB images. By exploiting the difference between 2D and 3D centers,we are able to estimate depth consistently. Center3D uses a combination of classification and regression to understand the hidden depth information more robustly than each method alone. Our method employs two joint approaches: (1) LID: a classification-dominated approach with sequential Linear Increasing Discretization. (2) DepJoint: a regression-dominated approach with multiple Eigen’s transformations for depth estimation.
Parameters:
TBD
Latex Bibtex:

Detailed Results

Object detection and orientation estimation results. Results for object detection are given in terms of average precision (AP) and results for joint object detection and orientation estimation are provided in terms of average orientation similarity (AOS).


Benchmark Easy Moderate Hard
Car (Detection) 95.14 % 85.05 % 73.06 %
Car (Orientation) 93.10 % 82.51 % 70.79 %
Car (3D Detection) 12.01 % 9.31 % 8.06 %
Car (Bird's Eye View) 18.89 % 13.98 % 12.44 %
Pedestrian (Detection) 67.15 % 48.76 % 44.05 %
Pedestrian (Orientation) 53.15 % 38.59 % 34.77 %
Pedestrian (3D Detection) 4.86 % 3.43 % 2.78 %
Pedestrian (Bird's Eye View) 5.67 % 3.71 % 3.52 %
Cyclist (Detection) 65.34 % 40.99 % 36.50 %
Cyclist (Orientation) 51.51 % 31.68 % 28.45 %
Cyclist (3D Detection) 4.32 % 2.35 % 2.06 %
Cyclist (Bird's Eye View) 5.28 % 2.76 % 2.72 %
This table as LaTeX


2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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