The KITTI Vision Benchmark Suite

The insight behind introducing MonoSIM is that we
propose to simulate the feature learning behaviors
of two heterogeneous object detectors.
During the training period, monocular detectors
simulate the learning behaviors of the target
point cloud based detector.
Hence, during the inference period, the steps of
feature extraction and prediction process would be
similar to the point cloud based detector as
possible. To achieve it, we propose one scene-
level simulation module, one RoI-level simulation
module, and one response-level simulation module,
which are progressively used for the detector's
complete feature learning and prediction pipeline.

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