2023/09/30 by Lei Yang, Jiaxin Yu, Yang, Lei +15 · 3 citations
Computer Science · Engineering · #Advanced Neural Network Applications #Autonomous Vehicle Technology and Safety #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2310.00400
openalex publication_date 2023/09/30 · openalex created_date 2023/10/04 · openalex updated_date 2026/07/28
Although the majority of recent autonomous driving systems concentrate on developing perception methods based on ego-vehicle sensors, there is an overlooked alternative approach that involves leveraging intelligent roadside cameras to help extend the ego-vehicle perception ability beyond the visual range. We discover that most existing monocular 3D object detectors rely on the ego-vehicle prior assumption that the optical axis of the camera is parallel to the ground. However, the roadside camera is installed on a pole with a pitched angle, which makes the existing methods not optimal for roadside scenes. In this paper, we introduce a novel framework for Roadside Monocular 3D object detection with ground-aware embeddings, named MonoGAE. Specifically, the ground plane is a stable and strong prior knowledge due to the fixed installation of cameras in roadside scenarios. In order to reduce the domain gap between the ground geometry information and high-dimensional image features, we employ a supervised training paradigm with a ground plane to predict high-dimensional ground-aware embeddings. These embeddings are subsequently integrated with image features through cross-attention mechanisms. Furthermore, to improve the detector's robustness to the divergences in cameras' installation poses, we replace the ground plane depth map with a novel pixel-level refined ground plane equation map. Our approach demonstrates a substantial performance advantage over all previous monocular 3D object detectors on widely recognized 3D detection benchmarks for roadside cameras. The code and pre-trained models will be released soon.