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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



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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