ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detection

Danila Rukhovich, Anna Vorontsova, Anton Konushin; Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2022, pp. 2397-2406

Abstract


In this paper, we introduce the task of multi-view RGB-based 3D object detection as an end-to-end optimization problem. To address this problem, we propose ImVoxelNet, a novel fully convolutional method of 3D object detection based on posed monocular or multi-view RGB images. The number of monocular images in each multi-view input can variate during training and inference; actually, this number might be unique for each multi-view input. ImVoxelNet successfully handles both indoor and outdoor scenes, which makes it general-purpose. Specifically, it achieves state-of-the-art results in car detection on KITTI (monocular) and nuScenes (multi-view) benchmarks among all methods that accept RGB images. Moreover, it surpasses existing RGB-based 3D object detection methods on the SUN RGB-D dataset. On ScanNet, ImVoxelNet sets a new benchmark for multi-view 3D object detection.

Related Material


[pdf] [supp] [arXiv]
[bibtex]
@InProceedings{Rukhovich_2022_WACV, author = {Rukhovich, Danila and Vorontsova, Anna and Konushin, Anton}, title = {ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detection}, booktitle = {Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)}, month = {January}, year = {2022}, pages = {2397-2406} }