Mds-Net: Multi-Scale Depth Stratification 3d Object Detection from Monocular Images

Download This Paper Open PDF in Browser Add Paper to My Library Share: Permalink Using these links will ensure access to this page indefinitely Copy URL Mds-Net: Multi-Scale Depth Stratification 3d Object Detection from Monocular Images 12 Pages Posted: 24 May 2022 See all articles by Zhouzhen XieZhouzhen XieZhejiang UniversityYuying SongZhejiang UniversityJingxuan WuZhejiang UniversityZecheng LiZhejiang UniversityChunyi SongZhejiang UniversityZhiwei XuZhejiang University Abstract Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection network (MDS Net), which uses the anchor-free method to detect 3D objects in a per-pixel prediction. Firstly, a novel depth-based stratification structure is developed to improve the network’s ability of depth prediction, which exploits the mathematical relationship between the size and the depth in the image of an object based on the pinhole model. Secondly, a new angle loss function is developed to further improve both the accuracy of the angle prediction and the convergence speed of training. An optimized soft-NMS is finally applied in the post-processing stage to adjust the confidence score of the candidate boxes. Experiment results on the KITTI benchmark show that the proposed MDS-Net outperforms the existing monocular 3D detection methods in both tasks of 3D detection and BEV detection while fulfilling real-time requirements. Keywords: Autonomous driving, Monocular image, object detection, Computer Vision Suggested Citation: Suggested Citation Xie, Zhouzhen and Song, Yuying and Wu, Jingxuan and Li, Zecheng and Song, Chunyi and Xu, Zhiwei, Mds-Net: Multi-Scale Depth Stratification 3d Object Detection from Monocular Images. Available at SSRN: https://ssrn.com/abstract=4118357 Zhouzhen Xie Zhejiang University ( email ) 38 Zheda RoadHangzhou, 310058China Yuying Song Zhejiang University ( email ) 38 Zheda RoadHangzhou, 310058China Jingxuan Wu Zhejiang University ( email ) 38 Zheda RoadHangzhou, 310058China Zecheng Li Zhejiang University ( email ) 38 Zheda RoadHangzhou, 310058China Chunyi Song (Contact Author) Zhejiang University ( email ) 38 Zheda RoadHangzhou, 310058China Zhiwei Xu Zhejiang University ( email ) 38 Zheda RoadHangzhou, 310058China Download This Paper Open PDF in Browser Do you want regular updates from SSRN on Twitter? Follow SSRN Paper statistics Downloads 0 Abstract Views 3 PlumX Metrics Related eJournals Other Information Systems & eBusiness eJournal Follow Other Information Systems & eBusiness eJournal Subscribe to this fee journal for more curated articles on this topic FOLLOWERS 1 PAPERS 6,163 Feedback Feedback to SSRN Feedback (required) Email (required) Submit If you need immediate assistance, call 877-SSRNHelp (877 777 6435) in the United States, or +1 212 448 2500 outside of the United States, 8:30AM to 6:00PM U.S. Eastern, Monday - Friday. Submit a Paper Section 508 Text Only Pages SSRN Quick Links SSRN Solutions Research Paper Series Conference Papers Partners in Publishing Jobs & Announcements Newsletter Sign Up SSRN Rankings Top Papers Top Authors Top Organizations About SSRN SSRN Objectives Network Directors Presidential Letter Announcements Contact us FAQs Copyright Terms and Conditions Privacy Policy We use cookies to help provide and enhance our service and tailor content. To learn more, visit Cookie Settings. This page was processed by aws-apollo5 in 0.282 seconds