PaperReading

3D-GCK: Single-Shot 3D Detection of Vehicles from Monocular RGB Images via Geometrically Constrained Keypoints in Real-Time

August 2020

tl;dr: Annotate and predict an 8DoF polyline for 3D perception.

Overall impression

The paper proposed a way to annotate and regress a 3D bbox, in the form of a 8 DoF polyline. This is very similar but different from Bounding Shapes.

This is one of the series of papers from Daimler.

• MergeBox
• Bounding Shapes
• 3D Geometrically constraint keypoints

Key ideas

• Bounding shape is one 4-point and 8DoF polyline.
• Distance is calculated with IPM.

Technical details

• Summary of technical details

Notes

• Series production cars: mass production cars