Transcription of Pseudo-LiDAR From Visual Depth Estimation: Bridging the ...
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Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous DrivingYan Wang, Wei-Lun Chao, Divyansh Garg, Bharath Hariharan, Mark Campbell, and Kilian Q. WeinbergerCornell University, Ithaca, NY{yw763, wc635, dg595, bh497, mc288, object detection is an essential task in autonomousdriving. Recent techniques excel with highly accurate de-tection rates, provided the 3D input data is obtained fromprecise but expensive LiDAR technology. Approaches basedon cheaper monocular or stereo imagery data have, untilnow, resulted in drastically lower accuracies a gap thatis commonly attributed to poor image-based Depth estima-tion. However, in this paper we argue that it is not the qual-ity of the data but its representation that accounts for themajority of the difference.}
flavor are largely built upon 2D object detection [25], im-posing extra geometric constraints [2, 4, 21, 29] to create 3D proposals. [5, 6, 22, 30] apply stereo-based depth es-timation to obtain the true 3D coordinates of each pixel. These 3D coordinates are either entered as additional in-put channels into a 2D detection pipeline, or used to ...
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