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OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection. (arXiv:2211.01142v1 [cs.CV])
Nov. 3, 2022, 1:14 a.m. | Yongzhi Su, Yan Di, Fabian Manhardt, Guangyao Zhai, Jason Rambach, Benjamin Busam, Didier Stricker, Federico Tombari
cs.CV updates on arXiv.org arxiv.org
Despite monocular 3D object detection having recently made a significant leap
forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR
recovery, such two-stage methods typically suffer from overfitting and are
incapable of explicitly encapsulating the geometric relation between depth and
object bounding box. To overcome this limitation, we instead propose OPA-3D, a
single-stage, end-to-end, Occlusion-Aware Pixel-Wise Aggregation network that
to jointly estimate dense scene depth with depth-bounding box residuals and
object bounding boxes, allowing a two-stream detection of …
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