Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss insights 3DIou lossHomoscedastic noise Heteroscedastic noise 3D框的representation 重要结论 distance 越远其variance越大很容易想而对于图像中的车框,越远车框变化越小,而越近变化越大,所以variance近大远小