Knowledge Commons of Institute of Automation,CAS
Depth-Guided Vision Transformer With Normalizing Flows for Monocular 3D Object Detection | |
Cong Pan![]() ![]() ![]() | |
发表期刊 | IEEE/CAA Journal of Automatica Sinica
![]() |
ISSN | 2329-9266 |
2024 | |
卷号 | 11期号:3页码:673-689 |
通讯作者 | Pan, Cong(pancong2018@ia.ac.cn) ; Zhang, Zhaoxiang(zhaoxiang.zhang@ia.ac.cn) |
摘要 | Monocular 3D object detection is challenging due to the lack of accurate depth information. Some methods estimate the pixel-wise depth maps from off-the-shelf depth estimators and then use them as an additional input to augment the RGB images. Depth-based methods attempt to convert estimated depth maps to pseudo-LiDAR and then use LiDAR-based object detectors or focus on the perspective of image and depth fusion learning. However, they demonstrate limited performance and efficiency as a result of depth inaccuracy and complex fusion mode with convolutions. Different from these approaches, our proposed depth-guided vision transformer with a normalizing flows (NF-DVT) network uses normalizing flows to build priors in depth maps to achieve more accurate depth information. Then we develop a novel Swin-Transformer-based backbone with a fusion module to process RGB image patches and depth map patches with two separate branches and fuse them using cross-attention to exchange information with each other. Furthermore, with the help of pixel-wise relative depth values in depth maps, we develop new relative position embeddings in the cross-attention mechanism to capture more accurate sequence ordering of input tokens. Our method is the first Swin-Transformer-based backbone architecture for monocular 3D object detection. The experimental results on the KITTI and the challenging Waymo Open datasets show the effectiveness of our proposed method and superior performance over previous counterparts. |
关键词 | Monocular 3D object detection normalizing flows Swin Transformer |
DOI | 10.1109/JAS.2023.123660 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China |
项目资助者 | National Natural Science Foundation of China |
WOS研究方向 | Automation & Control Systems |
WOS类目 | Automation & Control Systems |
WOS记录号 | WOS:001179789200022 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/54599 |
专题 | 学术期刊_IEEE/CAA Journal of Automatica Sinica |
推荐引用方式 GB/T 7714 | Cong Pan,Junran Peng,Zhaoxiang Zhang. Depth-Guided Vision Transformer With Normalizing Flows for Monocular 3D Object Detection[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(3):673-689. |
APA | Cong Pan,Junran Peng,&Zhaoxiang Zhang.(2024).Depth-Guided Vision Transformer With Normalizing Flows for Monocular 3D Object Detection.IEEE/CAA Journal of Automatica Sinica,11(3),673-689. |
MLA | Cong Pan,et al."Depth-Guided Vision Transformer With Normalizing Flows for Monocular 3D Object Detection".IEEE/CAA Journal of Automatica Sinica 11.3(2024):673-689. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
JAS-2023-0177.pdf(37784KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论