Core Concepts
The core message of this paper is that existing monocular 3D object detection methods suffer from a coupling problem where multiple depth predictions tend to have the same error sign, limiting the accuracy of the combined depth. To address this, the authors propose to increase the complementarity of depths by introducing a new depth prediction branch that utilizes global depth clues and by exploiting the geometric relations between multiple depth clues to achieve complementarity in form.
Abstract
The paper first points out the coupling problem in existing monocular 3D object detection methods, where multiple depth predictions tend to have the same error sign, limiting the accuracy of the combined depth. To address this, the authors propose two novel designs:
Adding a new depth prediction branch named "complementary depth" that utilizes global and efficient depth clues from the entire image, rather than local clues, to reduce the similarity of depth predictions.
Fully exploiting the geometric relations between multiple depth clues to achieve complementarity in form, which utilizes the fact that errors in the same geometric quantity may have opposite effects on different branches.
The authors incorporate these designs into a novel monocular 3D detector named "MonoCD". Experiments on the KITTI benchmark demonstrate that MonoCD achieves state-of-the-art performance without introducing extra data. Additionally, the complementary depth can be a lightweight and plug-and-play module to boost multiple existing monocular 3D object detectors.
The authors provide a mathematical analysis to demonstrate the effectiveness of complementary depths. They also conduct extensive ablation studies to validate the importance of global depth clues and the complementary form.
Stats
The authors do not provide any specific sentences containing key metrics or important figures. The paper focuses on the overall approach and evaluation rather than presenting detailed statistics.
Quotes
The paper does not contain any striking quotes supporting the key logics.