Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss
Monocular3DObjectDetectionandBoxFittingTrainedEnd-to-EndUsingIntersection-over-UnionLossinsights3DIoulossHomoscedasticnoiseHeteroscedasticnoise3D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,