Accurate detection and 3D localization of humans using a novel YOLO-based RGB-D fusion approach and synthetic training data
Timm Linder,Kilian Y. Pfeiffer,Narunas Vaskevicius,Robert Schirmer,Kai O. Arras,Timm Linder,Kilian Y. Pfeiffer,Narunas Vaskevicius,Robert Schirmer,Kai O. Arras
While 2D object detection has made significant progress, robustly localizing objects in 3D space under presence of occlusion is still an unresolved issue. Our focus in this work is on real-time detection of human 3D centroids in RGB-D data. We propose an image-based detection approach which extends the YOLO v3 architecture with a 3D centroid loss and mid-level feature fusion to exploit complementa...
