mlsanityData to 7 Oct 2026

Mono3D++: Monocular 3D Vehicle Detection with Two-Scale 3D Hypotheses and Task Priors

arXiv 1901.03446 ↗First posted 11 Jan 2019cs.CVcited by 37

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Abstract (arXiv)

We present a method to infer 3D pose and shape of vehicles from a single image. To tackle this ill-posed problem, we optimize two-scale projection consistency between the generated 3D hypotheses and their 2D pseudo-measurements. Specifically, we use a morphable wireframe model to generate a fine-scaled representation of vehicle shape and pose. To reduce its sensitivity to 2D landmarks, we jointly model the 3D bounding box as a coarse representation which improves robustness. We also integrate three task priors, including unsupervised monocular depth, a ground plane constraint as well as vehicle shape priors, with forward projection errors into an overall energy function.

Key facts. Cited by 37 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Jan 2019.

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Citing papers per year: 2021: 12; 2022: 8; 2023: 10; 2024: 4; 2025: 3.

37 papers.

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  1. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 248
  2. 2021Probabilistic and Geometric Depth: Detecting Objects in Perspectivecited by 190
  3. 2021Geometry Uncertainty Projection Network for Monocular 3D Object Detectioncited by 155
  4. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  5. 2021MonoRUn: Monocular 3D Object Detection by Reconstruction and Uncertainty Propagationcited by 82
  6. 2023LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusioncited by 80
  7. 2021Learning Auxiliary Monocular Contexts Helps Monocular 3D Object Detectioncited by 66
  8. 20223D Object Detection from Images for Autonomous Driving: A Surveycited by 66
  9. 2021Multi-Modal 3D Object Detection in Autonomous Driving: a Surveycited by 63
  10. 2023MonoNeRD: NeRF-like Representations for Monocular 3D Object Detectioncited by 33
  11. 2022Homogeneous Multi-modal Feature Fusion and Interaction for 3D Object Detectioncited by 26
  12. 2022Homography Loss for Monocular 3D Object Detectioncited by 24
25 more
  1. 2021Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homographycited by 21
  2. 2021MonoGRNet: A General Framework for Monocular 3D Object Detectioncited by 20
  3. 2023MonoATT: Online Monocular 3D Object Detection with Adaptive Token Transformercited by 18
  4. 2023Viewpoint Equivariance for Multi-View 3D Object Detectioncited by 18
  5. 2021MonoCInIS: Camera Independent Monocular 3D Object Detection using Instance Segmentationcited by 15
  6. 2024MonoMAE: Enhancing Monocular 3D Detection through Depth-Aware Masked Autoencoderscited by 15
  7. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  8. 2024Weakly Supervised Monocular 3D Detection with a Single-View Imagecited by 10
  9. 2023MoGDE: Boosting Mobile Monocular 3D Object Detection with Ground Depth Estimationcited by 9
  10. 2025Ev-3DOD: Pushing the Temporal Boundaries of 3D Object Detection with Event Camerascited by 8
  11. 2022Ground Plane Matters: Picking Up Ground Plane Prior in Monocular 3D Object Detectioncited by 5
  12. 2022OBMO: One Bounding Box Multiple Objects for Monocular 3D Object Detectioncited by 5
  13. 2023GUPNet++: Geometry Uncertainty Propagation Network for Monocular 3D Object Detectioncited by 5
  14. 2023Uncertainty-Aware AB3DMOT by Variational 3D Object Detectioncited by 3
  15. 2022Category-Level Pose Retrieval with Contrastive Features Learnt with Occlusion Augmentationcited by 2
  16. 2024SpotNet: An Image Centric, Lidar Anchored Approach To Long Range Perceptioncited by 2
  17. 2025Few-Shot Learning in Video and 3D Object Detection: A Surveycited by 2
  18. 2021VR3Dense: Voxel Representation Learning for 3D Object Detection and Monocular Dense Depth Reconstructioncited by 1
  19. 2021Joint stereo 3D object detection and implicit surface reconstructioncited by 1
  20. 2023DeepSTEP -- Deep Learning-Based Spatio-Temporal End-To-End Perception for Autonomous Vehiclescited by 1
  21. 2023Polygon Intersection-over-Union Loss for Viewpoint-Agnostic Monocular 3D Vehicle Detectioncited by 1
  22. 2024Inverse Neural Rendering for Explainable Multi-Object Trackingcited by 1
  23. 2021Shape Prior Non-Uniform Sampling Guided Real-time Stereo 3D Object Detectioncited by 0
  24. 2022Recursive Cross-View: Use Only 2D Detectors to Achieve 3D Object Detection without 3D Annotationscited by 0
  25. 2025ToosiCubix: Monocular 3D Cuboid Labeling via Vehicle Part Annotationscited by 0