3D Object Detection Based on Vanishing Point and Prior Orientation

Abstract

3D object detection is one of the most challenging research tasks in computer vision. In order to solve the problem of template information dependency of 3D object proposal in the method of 3D object detection based on 2.5D information, we proposed a 3D object detector based on fusion of vanishing point and prior orientation, which estimates an accurate 3D proposal from 2.5D data, and provides an excellent start point for 3D object classification and localization. The algorithm first calculates three mutually orthogonal vanishing points by the Euler angle principle and projects them into the pixel coordinate system. Then, the top edge of the 2D proposal is sampled by the preset sampling pitch, and the first one vertex is taken. Finally, the remaining seven vertices of the 3D proposal are calculated according to the linear relationship between the three vanishing points and the vertices, and the complete information of the 3D proposal is obtained. The experimental results show that this proposed method improves the Mean Average Precision score by 2.7% based on the Amodal3Det method.