Ground Plane Matters: Picking Up Ground Plane Prior in Monocular 3D Object Detection

Understand

The ground plane prior is a very informative geometry clue in monocular 3D object detection (M3OD).

• However, it has been neglected by most mainstream methods.
• In this paper, we identify two key factors that limit the applicability of ground plane prior: the projection point localization issue and the ground plane tilt issue.
• To pick up the ground plane prior for M3OD, we propose a Ground Plane Enhanced Network (GPENet) which resolves both issues at one go.