  In this paper, we propose a Monocular 3D Single Stage object Detector
(M3DSSD) with feature alignment and asymmetric non-local attention. Current
anchor-based monocular 3D object detection methods suffer from feature
mismatching. To overcome this, we propose a two-step feature alignment
approach. In the first step, the shape alignment is performed to enable the
receptive field of the feature map to focus on the pre-defined anchors with
high confidence scores. In the second step, the center alignment is used to
align the features at 2D/3D centers. Further, it is often difficult to learn
global information and capture long-range relationships, which are important
for the depth prediction of objects. Therefore, we propose a novel asymmetric
non-local attention block with multi-scale sampling to extract depth-wise
features. The proposed M3DSSD achieves significantly better performance than
the monocular 3D object detection methods on the KITTI dataset, in both 3D
object detection and bird's eye view tasks.
