Method

SS3D: Monocular Object Detection and 3D Box Fitting Trained End-to-End [SS3D]
[Anonymous Submission]

Submitted on 10 Jan. 2019 12:27 by
[Anonymous Submission]

Running time:48 ms
Environment:Tesla V100 (Python)

Method Description:
In the SS3D pipeline, an image is fed to a fully-convolutional neural
network, which performs 2D detection and regresses keypoint
locations, orientation, dimensions and distance for each object.
Using
a learned weighting of these outputs, an optimizer yields accurate 3D
bounding boxes.
Parameters:
Latex Bibtex:
@article{DBLP:journals/corr/abs-1906-08070,
author = {Eskil Jörgensen and
Christopher Zach and
Fredrik Kahl},
title = {Monocular 3D Object Detection and Box Fitting Trained
End-to-End Using
Intersection-over-Union Loss},
journal = {CoRR},
volume = {abs/1906.08070},
year = {2019},
url = {http://arxiv.org/abs/1906.08070},
eprint = {1906.08070}
}

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) 89.15 % 80.11 % 70.52 %
Car (Orientation) 89.02 % 79.70 % 69.91 %
Car (3D Detection) 11.74 % 9.58 % 7.77 %
Car (Bird's Eye View) 17.86 % 12.81 % 12.28 %
Pedestrian (Detection) 59.46 % 49.81 % 42.44 %
Pedestrian (Orientation) 52.70 % 43.45 % 37.20 %
Pedestrian (3D Detection) 3.52 % 3.28 % 2.37 %
Pedestrian (Bird's Eye View) 3.86 % 3.52 % 2.50 %
Cyclist (Detection) 53.79 % 37.90 % 35.12 %
Cyclist (Orientation) 44.77 % 31.17 % 28.96 %
Cyclist (3D Detection) 10.84 % 9.09 % 9.09 %
Cyclist (Bird's Eye View) 11.52 % 9.65 % 9.09 %
This table as LaTeX


2D object detection results.
This figure as: png eps pdf txt gnuplot



Orientation estimation results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot



2D object detection results.
This figure as: png eps pdf txt gnuplot



Orientation estimation results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot



2D object detection results.
This figure as: png eps pdf txt gnuplot



Orientation estimation results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot




eXTReMe Tracker