Main contributions:
- Device a pairwise costs for object tracking based on several 3D cues.
- The costs are agnostic to the data association method.
- Can incorporated into any optimization framework.
The efficacy of the monocular 3D cues:
![在这里插入图片描述](https://img-blog.csdnimg.cn/20200308154528316.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM4MDUzMTk1,size_16,color_FFFFFF,t_70)
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前两行是帧t与帧t+1以及它们各自的bounding boxes。
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通过将帧t中的对象lifting到3D并ballooning它们的位置来将其project到在t+1时刻观察到的图像上,在此映射区域寻找匹配对象并计算3D-2Dcost,大大地减少了搜索区域,降低了配对成本。
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通过将仅在此映射区域的检测backproject到3D并基于3Dvolume重叠计算3D-3Dcost(代码实现是通过3D凸包重叠)。
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混合各类cost(不仅仅是上述两个),使用匈牙利关联模式进行数据关联。
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odometry estimates obtained from ORB-SLAM。
Composition of costs:
![在这里插入图片描述](https://img-blog.csdnimg.cn/20200308154844406.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM4MDUzMTk1,size_16,color_FFFFFF,t_70)
公式(1)中的第一项是一个对象类别的平均形状,第二项中的V是表征平均形状形变方向的形变基础(一组特征向量)。
Illustration for understanding the concept of 3D-2D and 3D-3D costs:
![在这里插入图片描述](https://img-blog.csdnimg.cn/202003081549501.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM4MDUzMTk1,size_16,color_FFFFFF,t_70)
Results
![在这里插入图片描述](https://img-blog.csdnimg.cn/20200308155047583.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM4MDUzMTk1,size_16,color_FFFFFF,t_70)
引用文献
(前面没缩进,见谅)[7] J. K. Murthy, G. S. Krishna, F. Chhaya, and K. M. Krishna, “Reconstructing vehicles from a single image: Shape priors for road scene understanding,” in Proceedings of the IEEE Conference on Robotics and Automation, 2017.
[8] J. K. Murthy, S. Sharma, and M. Krishna, “Shape priors for real-time monocular object localization in dynamic environments,” in Proceedings of the IEEE Conference on Intelligent Robots and Systems(In Press), 2017.
[22] S. Song and M. Chandraker, “Joint sfm and detection cues for monocular 3d localization in road scenes,” in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2015.