Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detection
| Autor: | Mohamed, Sondos, Zimmer, Walter, Greer, Ross, Ghita, Ahmed Alaaeldin, Castrillón-Santana, Modesto, Trivedi, Mohan, Knoll, Alois, Carta, Salvatore Mario, Marras, Mirko |
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| Rok vydání: | 2024 |
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| Druh dokumentu: | Working Paper |
| Popis: | Accurately detecting 3D objects from monocular images in dynamic roadside scenarios remains a challenging problem due to varying camera perspectives and unpredictable scene conditions. This paper introduces a two-stage training strategy to address these challenges. Our approach initially trains a model on the large-scale synthetic dataset, RoadSense3D, which offers a diverse range of scenarios for robust feature learning. Subsequently, we fine-tune the model on a combination of real-world datasets to enhance its adaptability to practical conditions. Experimental results of the Cube R-CNN model on challenging public benchmarks show a remarkable improvement in detection performance, with a mean average precision rising from 0.26 to 12.76 on the TUM Traffic A9 Highway dataset and from 2.09 to 6.60 on the DAIR-V2X-I dataset when performing transfer learning. Code, data, and qualitative video results are available on the project website: https://roadsense3d.github.io. Comment: 18 pages. Accepted for ECVA European Conference on Computer Vision 2024 (ECCV'24) |
| Databáze: | arXiv |
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