MonoJSG: Joint Semantic and Geometric Cost Volume for Monocular 3D Object Detection

Qing Lian, Peiliang Li, Xiaozhi Chen

Abstract: Due to the inherent ill-posed nature of 2D-3D projection, monocular 3D object detection lacks accurate depth recovery ability. Although the deep neural network (DNN) enables monocular depth-sensing from high-level learned features, the pixel-level cues are usually omitted due to the deep convolution mechanism. To benefit from both the pow-erful feature representation in DNN and pixel-level geomet-ric constraints, we reformulate the monocular object depth estimation as a progressive refinement problem and propose a joint semantic and geometric cost volume to model the depth error. Specifically, we first leverage neural networks to learn the object position, dimension, and dense normal-ized 3D object coordinates. Based on the object depth, the dense coordinates patch together with the corresponding object features is reprojected to the image space to build a cost volume in a joint semantic and geometric error man-ner. The final depth is obtained by feeding the cost volume to a refinement network, where the distribution of semantic and geometric error is regularized by direct depth supervision. Through effectively mitigating depth error by the re-finement framework, we achieve state-of-the-art results on both the KITTI and Waymo datasets. <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> Code available at https://github.com/lianqingll/MonoJSG