August 2020
tl;dr: Use 5DoF 2d bbox to infer 3d bbox.
The paper proposed a way to annotate and regress a 3D bbox, in the form of a 5 DoF bbox (MergeBox).
This is one of the series of papers from Daimler.
- A 5 DoF bbox to represent 3d bbox.
- 3D car size templates have to be assumed to lift the mergebox representation to 3D.
- The authors noted that even one single template can achieve good performance for AOS (average orientation score).
- The fancy name for (cos(theta), sin(theta)) is called Biternion. The gaussian on unit circle is called von Mises distribution.
- 3D annotation generally has two approaches: using lidar or 3D CAD model.
- This is similar to what nvidia does by marking the visible edges of the car.