Object-Aware Centroid Voting for Monocular 3D Object Detection

Understand

Monocular 3D object detection aims to detect objects in a 3D physical world from a single camera.

• However, recent approaches either rely on expensive LiDAR devices, or resort to dense pixel-wise depth estimation that causes prohibitive computational cost.
• In this paper, we propose an end-to-end trainable monocular 3D object detector without learning the dense depth.
• Specifically, the grid coordinates of a 2D box are first projected back to 3D space with the pinhole model as 3D centroids proposals.