A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
We propose a 3D object detection method for autonomous driving by fully exploiting the sparse and dense, semantic and geometry information in stereo imagery. Our method, called Stereo R-CNN, extends Faster R-CNN for stereo inputs to simultaneously detect and associate object in left and right images. We add extra branches after stereo Region Proposal Network (RPN) to predict sparse keypoints, viewpoints, and object dimensions, which are combined with 2D left-right boxes to calculate a coarse 3DarXiv:1902.09738v2 fatcat:5oe5woyjrzfgxmom6j3pwi7s3m