Applying auxiliary supervised depth-assisted transformer and cross modal attention fusion in monocular 3D object detection

Abstract

Monocular 3D object detection is the most widely applied and challenging solution for autonomous driving, due to 2D images lacking 3D information. Existing methods are limited by inaccurate depth estimations by inequivalent supervised targets. The use of both depth and visual features also faces problems of heterogeneous fusion. In this article, we propose Depth Detection Transformer (Depth-DETR), applying auxiliary supervised depth-assisted transformer and cross modal attention fusion in monocular 3D object detection. Depth-DETR introduces two additional depth encoders besides the visual encoder. Two depth encoders are supervised by ground truth depth and bounding box respectively, working independently to complement each other’s limitations and predicting more accurate target distances. Furthermore, Depth-DETR employs cross modal attention mechanisms to effectively fuse three different features. A parallel structure of two cross modal transformer is applied to fuse two depth features with visual features. Avoiding early fusion between two depth features enhances the final fused feature for better feature representations. Through multiple experimental validations, the Depth-DETR model has achieved highly competitive results in the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset, with an AP score of 17.49, representing its outstanding performance in 3D object detection.

Keywords

• 3D object detection
• Transformer
• Depth estimation