BS3D: Beyond Bounding Boxes: Using Bounding Shapes for Real-Time 3D Vehicle Detection from Monocular RGB Images
August 2020
tl;dr: Annotate and predict a 6DoF bounding shape for 3D perception.
The paper proposed a way to annotate and regress a 3D bbox, in the form of a 8 DoF polyline.
This is one of the series of papers from Daimler.
- Bounding shape is one 4-point and 8DoF polyline.
- The paper normalizes dimension and 3D location to that y = 0. When real depth is recovered (via lidar, radar or stereo), the monocular perception
- An object is of Manhattan properties if 3 orthogonal axes can be inferred, such as cars, buses, motorbikes, trains, etc.
- 57% of all American drivers do not use turn signals when changing the lane. (source)