Better Monocular 3D Detectors with LiDAR from the Past

arXiv:2404.05139v1 Announce Type: new
Abstract: Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based detectors are cheaper alternatives but often suffer inferior performance compared to their LiDAR-based counterparts due to inherent depth ambiguities in images. In this work, we seek to improve monocular 3D detectors by leveraging unlabeled historical LiDAR data. Specifically, at inference time, we assume that the …

3d object 3d object detection abstract adoption arxiv autonomous autonomous driving cost cs.cv cs.ro detection detectors driving lidar object performance sensors type vehicles