Understanding 3D object structure from a single image is an important but difficult task in computer vision, mostly due to the lack of 3D object annotations in real images. Previous work tackles this problem by either solving an optimization task given 2D keypoint positions, or training on synthetic data with ground truth 3D information.
3D viewpoint estimation 3D viewpoint estimation seeks to estimate the 3D orientation of an object from a single image @cite_16 . Some previous methods formulated it as a classification or regression problem, and aimed to directly estimate the viewpoint from an image @cite_8 @cite_53 . Others proposed to estimate 3D viewpoint from detected 2D keypoints or edges in the image @cite_11 @cite_22 @cite_27 . While the main focus of our work is to estimate 3D object structure, our method can also predict its 3D viewpoint.
@cite_22 @cite_8 @cite_53 @cite_27 @cite_16 @cite_11
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We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties using a deep convolutional neural network and then combines these estimates with geometric constraints provided by a 2D object bounding box to produce a complete 3D bounding box. The first network output estimates the 3D object orientation using a novel hybrid discrete-continuous loss, which significantly outperforms the L2 loss. The second output regresses the 3D object dimensions, which have relatively little variance compared to alternatives and can often be predicted for many object types. These estimates, combined with the geometric constraints on translation imposed by the 2D bounding box, enable us to recover a stable and accurate 3D object pose. We evaluate our method on the challenging KITTI object detection benchmark both on the official metric of 3D orientation estimation and also on the accuracy of the obtained 3D bounding boxes. Although conceptually simple, our method outperforms more complex and computationally expensive approaches that leverage semantic segmentation, instance level segmentation and flat ground priors and sub-category detection. Our discrete-continuous loss also produces state of the art results for 3D viewpoint estimation on the Pascal 3D+ dataset. We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties using a deep convolutional neural network and then combines these estimates with geometric constraints provided by a 2D object bounding box to produce a complete 3D bounding box. The first network output estimates the 3D object orientation using a novel hybrid discrete-continuous loss, which significantly outperforms the L2 loss. The second output regresses the 3D object dimensions, which have relatively little variance compared to alternatives and can often be predicted for many object types. These estimates, combined with the geometric constraints on translation imposed by the 2D bounding box, enable us to recover a stable and accurate 3D object pose. We evaluate our method on the challenging KITTI object detection benchmark [2] both on the official metric of 3D orientation estimation and also on the accuracy of the obtained 3D bounding boxes. Although conceptually simple, our method outperforms more complex and computationally expensive approaches that leverage semantic segmentation, instance level segmentation and flat ground priors [4] and sub-category detection [23][24]. Our discrete-continuous loss also produces state of the art results for 3D viewpoint estimation on the Pascal 3D+ dataset[26]. We describe an approach to category-level detection and viewpoint estimation for rigid 3D objects from single 2D images. In contrast to many existing methods, we directly integrate 3D reasoning with an appearance-based voting architecture. Our method relies on a nonparametric representation of a joint distribution of shape and appearance of the object class. Our voting method employs a novel parametrization of joint detection and viewpoint hypothesis space, allowing efficient accumulation of evidence. We combine this with a re-scoring and refinement mechanism, using an ensemble of view-specific Support Vector Machines. We evaluate the performance of our approach in detection and pose estimation of cars on a number of benchmark datasets. Recent top performing methods for viewpoint estimation make use of 3D information like 3D CAD models or 3D landmarks to build a 3D representation of the class. These 3D annotations are expensive and not really available for many classes. In this paper we investigate whether and how comparable performance can be obtained without any 3D information. We consider viewpoint estimation as a 1-vs-all classification problem on the previously detected object bounding box. In this framework we compare several features and parameter configurations and show that the modern representations based on Fisher encoding and convolutional neural network based features together with a neighbor viewpoints suppression strategy on the training data lead to comparable or even better performance than 3D methods.