MVM3Det: A Novel Method for Multi-view Monocular 3D Detection

• DOI: 10.48550/arxiv.2109.10473
• Publication Date: 2021-01-01
• Authors: Haoran, Li; Zicheng, Duan; Mingjun, Ma; Yaran, Chen; Jiaqi, Li; Dongbin, Zhao
• Keywords: FOS: Computer and information sciences; Computer Vision and Pattern Recognition (cs.CV); Computer Science - Computer Vision and Pattern Recognition; 0202 electrical engineering, electronic engineering, information engineering; 02 engineering and technology

7 pages, 3 figures, submitted to ICRA 2022<br/>Monocular 3D object detection encounters occlusion problems in many application scenarios, such as traffic monitoring, pedestrian monitoring, etc., which leads to serious false negative. Multi-view object detection effectively solves this problem by combining data from different perspectives. However, due to label confusion and feature confusion, the orientation estimation of multi-view 3D object detection is intractable, which is important for object tracking and intention prediction. In this paper, we propose a novel multi-view 3D object detection method named MVM3Det which simultaneously estimates the 3D position and orientation of the object according to the multi-view monocular information. The method consists of two parts: 1) Position proposal network, which integrates the features from different perspectives into consistent global features through feature orthogonal transformation to estimate the position. 2) Multi-branch orientation estimation network, which introduces feature perspective pooling to overcome the two confusion problems during the orientation estimation. In addition, we present a first dataset for multi-view 3D object detection named MVM3D. Comparing with State-Of-The-Art (SOTA) methods on our dataset and public dataset WildTrack, our method achieves very competitive results.<br/>