Monocular 3D Object Detection with Decoupled Structured Polygon Estimation and Height-Guided Depth Estimation

Understand

Monocular 3D object detection task aims to predict the 3D bounding boxes of objects based on monocular RGB images.

• Since the location recovery in 3D space is quite difficult on account of absence of depth information, this paper proposes a novel unified framework which decomposes the detection problem into a structured polygon prediction task and a depth recovery task.
• Different from the widely studied 2D bounding boxes, the proposed novel structured polygon in the 2D image consists of several projected surfaces of the target object.
• Compared to the widely-used 3D bounding box proposals, it is shown to be a better representation for 3D detection.