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Improve 3D depth estimates by using relationships between objects

Improve 3D depth estimates by using relationships between objects


Probabilistic and Geometric Depth: Detecting Objects in Perspective




... recent methods directly estimate the depth based on isolated instances or pixels while ignoring the geometric relations across different objects, which can be valuable constraints as the key information about depth is not directly manifest in the monocular image.


Therefore, we construct geometric relation graphs across predicted objects and use the graph to facilitate depth estimation.


... incorporate a probabilistic representation to capture the uncertainty.


... method obtains significant improvements on KITTI and nuScenes benchmarks, achieving the 1st place out of all monocular vision-only methods while still maintaining real-time efficiency. ...



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