Improve monocular 3D depth using fusion of estimated depth over time with PRT-Fusion
Improve monocular 3D depth using fusion of estimated depth over time with PRT-Fusion
Depth Estimation Matters Most: Improving Per-Object Depth Estimation for Monocular 3D Detection and Tracking
arXiv paper abstract https://arxiv.org/abs/2206.03666
arXiv PDF paper https://arxiv.org/pdf/2206.03666.pdf
Monocular image-based 3D perception ... often yield inferior performance when compared to LiDAR-based techniques.
... systematic analysis ... identified that per-object depth estimation accuracy is a major factor bounding the performance.
... propose a multi-level fusion method that combines different representations (RGB and pseudo-LiDAR) and temporal information across multiple frames for objects (tracklets) to enhance per-object depth estimation.
... fusion method achieves the state-of-the-art performance of per-object depth estimation
... by simply replacing estimated depth with fusion-enhanced depth ... can achieve significant improvements in monocular 3D perception tasks, including detection and tracking.
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