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Register a new userDepth-conditioned Dynamic Message Propagation for Monocular 3D Object Detection
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Added by
Li Zhang
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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The objective of this paper is to learn context- and depth-aware feature representation to solve the problem of monocular 3D object detection. We make following contributions: (i) rather than appealing to the complicated pseudo-LiDAR based approach, we propose a depth-conditioned dynamic message propagation (DDMP) network to effectively integrate the multi-scale depth information with the image context;(ii) this is achieved by first adaptively sampling context-aware nodes in the image context and then dynamically predicting hybrid depth-dependent filter weights and affinity matrices for propagating information; (iii) by augmenting a center-aware depth encoding (CDE) task, our method successfully alleviates the inaccurate depth prior; (iv) we thoroughly demonstrate the effectiveness of our proposed approach and show state-of-the-art results among the monocular-based approaches on the KITTI benchmark dataset. Particularly, we rank $1^{st}$ in the highly competitive KITTI monocular 3D object detection track on the submission day (November 16th, 2020). Code and models are released at url{https://github.com/fudan-zvg/DDMP}
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Monocular 3D object detection is a key problem for autonomous vehicles, as it provides a solution with simple configuration compared to typical multi-sensor systems. The main challenge in monocular 3D detection lies in accurately predicting object depth, which must be inferred from object and scene cues due to the lack of direct range measurement. Many methods attempt to directly estimate depth to assist in 3D detection, but show limited performance as a result of depth inaccuracy. Our proposed solution, Categorical Depth Distribution Network (CaDDN), uses a predicted categorical depth distribution for each pixel to project rich contextual feature information to the appropriate depth interval in 3D space. We then use the computationally efficient birds-eye-view projection and single-stage detector to produce the final output bounding boxes. We design CaDDN as a fully differentiable end-to-end approach for joint depth estimation and object detection. We validate our approach on the KITTI 3D object detection benchmark, where we rank 1st among published monocular methods. We also provide the first monocular 3D detection results on the newly released Waymo Open Dataset. We provide a code release for CaDDN which is made available.
Object localization in 3D space is a challenging aspect in monocular 3D object detection. Recent advances in 6DoF pose estimation have shown that predicting dense 2D-3D correspondence maps between image and object 3D model and then estimating object pose via Perspective-n-Point (PnP) algorithm can achieve remarkable localization accuracy. Yet these methods rely on training with ground truth of object geometry, which is difficult to acquire in real outdoor scenes. To address this issue, we propose MonoRUn, a novel detection framework that learns dense correspondences and geometry in a self-supervised manner, with simple 3D bounding box annotations. To regress the pixel-related 3D object coordinates, we employ a regional reconstruction network with uncertainty awareness. For self-supervised training, the predicted 3D coordinates are projected back to the image plane. A Robust KL loss is proposed to minimize the uncertainty-weighted reprojection error. During testing phase, we exploit the network uncertainty by propagating it through all downstream modules. More specifically, the uncertainty-driven PnP algorithm is leveraged to estimate object pose and its covariance. Extensive experiments demonstrate that our proposed approach outperforms current state-of-the-art methods on KITTI benchmark.
As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most existing monocular methods typically directly regress the scene depth while ignoring important relationships between the depth and various geometric elements (e.g. bounding box sizes, 3D object dimensions, and object poses). In this paper, we propose to learn geometry-guided depth estimation with projective modeling to advance monocular 3D object detection. Specifically, a principled geometry formula with projective modeling of 2D and 3D depth predictions in the monocular 3D object detection network is devised. We further implement and embed the proposed formula to enable geometry-aware deep representation learning, allowing effective 2D and 3D interactions for boosting the depth estimation. Moreover, we provide a strong baseline through addressing substantial misalignment between 2D annotation and projected boxes to ensure robust learning with the proposed geometric formula. Experiments on the KITTI dataset show that our method remarkably improves the detection performance of the state-of-the-art monocular-based method without extra data by 2.80% on the moderate test setting. The model and code will be released at https://github.com/YinminZhang/MonoGeo.
Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for 3D object detection given only a monocular image. While there exist different alternatives for tackling this problem, it is found that they are either equipped with heavy networks to fuse RGB and depth information or empirically ineffective to process millions of pseudo-LiDAR points. With in-depth examination, we realize that these limitations are rooted in inaccurate object localization. In this paper, we propose a novel and lightweight approach, dubbed {em Progressive Coordinate Transforms} (PCT) to facilitate learning coordinate representations. Specifically, a localization boosting mechanism with confidence-aware loss is introduced to progressively refine the localization prediction. In addition, semantic image representation is also exploited to compensate for the usage of patch proposals. Despite being lightweight and simple, our strategy leads to superior improvements on the KITTI and Waymo Open Dataset monocular 3D detection benchmarks. At the same time, our proposed PCT shows great generalization to most coordinate-based 3D detection frameworks. The code is available at: https://github.com/amazon-research/progressive-coordinate-transforms .
Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be alleviated in a depth-based model where a depth estimation module is plugged to predict depth information before 3D box reasoning, the introduction of such module dramatically reduces the detection speed. Instead of training a costly depth estimator, we propose a rendering module to augment the training data by synthesizing images with virtual-depths. The rendering module takes as input the RGB image and its corresponding sparse depth image, outputs a variety of photo-realistic synthetic images, from which the detection model can learn more discriminative features to adapt to the depth changes of the objects. Besides, we introduce an auxiliary module to improve the detection model by jointly optimizing it through a depth estimation task. Both modules are working in the training time and no extra computation will be introduced to the detection model. Experiments show that by working with our proposed modules, a geometry-based model can represent the leading accuracy on the KITTI 3D detection benchmark.
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