Perspective-aware Convolution for Monocular 3D Object Detection

Monocular 3D object detection is a crucial and challenging task for autonomous driving vehicle, while it uses only a single camera image to infer 3D objects in the scene. To address the difficulty of predicting depth using only pictorial clue, we propose a novel perspective-aware convolutional layer that captures long-range dependencies in images. By enforcing convolutional kernels to extract features along the depth axis of every image pixel, we incorporates perspective information into network architecture. We integrate our perspective-aware convolutional layer into a 3D object detector and demonstrate improved performance on the KITTI3D dataset, achieving a 23.9\% average precision in the easy benchmark. These results underscore the importance of modeling scene clues for accurate depth inference and highlight the benefits of incorporating scene structure in network design. Our perspective-aware convolutional layer has the potential to enhance object detection accuracy by providing more precise and context-aware feature extraction

Panoptic-Depth Color Map for Combination of Depth and Image Segmentation

Image segmentation and depth estimation are crucial tasks in computer vision, especially in autonomous driving scenarios. Although these tasks are typically addressed separately, we propose an innovative approach to combine them in our novel deep learning network, Panoptic-DepthLab. By incorporating an additional depth estimation branch into the segmentation network, it can predict the depth of each instance segment. Evaluating on Cityscape dataset, we demonstrate the effectiveness of our method in achieving high-quality segmentation results with depth and visualize it with a color map. Our proposed method demonstrates a new possibility of combining different tasks and networks to generate a more comprehensive image recognition result to facilitate the safety of autonomous driving vehicles