Depth Estimation Matters Most: Improving Per-Object Depth Estimation for Monocular 3D Detection and Tracking
Longlong Jing,Ruichi Yu,Henrik Kretzschmar,Kang Li,Charles R. Qi,Hang Zhao,Alper Ayvaci,Xu Chen,Dillon Cower,Yingwei Li,Yurong You,Han Deng,Congcong Li,Dragomir Anguelov,Longlong Jing,Ruichi Yu,Henrik Kretzschmar,Kang Li,Charles R. Qi,Hang Zhao,Alper Ayvaci,Xu Chen,Dillon Cower,Yingwei Li,Yurong You,Han Deng,Congcong Li,Dragomir Anguelov
Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior performance when compared to LiDAR-based techniques. Through systematic analysis, we identified that per-object depth estimation accuracy is a major factor boundi...
