Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homography

by   Minghan Zhu, et al.

This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver, and assumed known intrinsic and extrinsic calibration. On the contrary, this paper focuses on the same task using uncalibrated monocular traffic cameras. We observe that the homography between the road plane and the image plane is essential to 3D vehicle detection and the data synthesis for this task, and the homography can be estimated without the camera intrinsics and extrinsics. We conduct 3D vehicle detection by estimating the rotated bounding boxes (r-boxes) in the bird's eye view (BEV) images generated from inverse perspective mapping. We propose a new regression target called tailed r-box and a dual-view network architecture which boosts the detection accuracy on warped BEV images. Experiments show that the proposed method can generalize to new camera and environment setups despite not seeing imaged from them during training.


page 1

page 3

page 4

page 5

page 6

page 7


CenterLoc3D: Monocular 3D Vehicle Localization Network for Roadside Surveillance Cameras

Monocular 3D vehicle localization is an important task in Intelligent Tr...

Real Time Monocular Vehicle Velocity Estimation using Synthetic Data

Vision is one of the primary sensing modalities in autonomous driving. I...

SKoPe3D: A Synthetic Dataset for Vehicle Keypoint Perception in 3D from Traffic Monitoring Cameras

Intelligent transportation systems (ITS) have revolutionized modern road...

An Efficient Wide-Range Pseudo-3D Vehicle Detection Using A Single Camera

Wide-range and fine-grained vehicle detection plays a critical role in e...

Monocular 3D Object Detection in Cylindrical Images from Fisheye Cameras

Detecting objects in 3D from a monocular camera has been successfully de...

Weakly Supervised Training of Monocular 3D Object Detectors Using Wide Baseline Multi-view Traffic Camera Data

Accurate 7DoF prediction of vehicles at an intersection is an important ...

Please sign up or login with your details

Forgot password? Click here to reset