# CenterLoc3D: Monocular 3D Vehicle Localization Network for Roadside Surveillance Cameras

arXiv: https://arxiv.org/abs/2203.14550 · HTML: https://mlsanity.com/paper/2203.14550/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 55 references that are in the map.
- First posted on arXiv 28 Mar 2022.

## Builds on (most cited first, 30 of 35)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Objects as Points](https://mlsanity.com/paper/1904.07850/) (2019)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [Distance-IoU Loss: Faster and Better Learning for Bounding Box Regression](https://mlsanity.com/paper/1911.08287/) (2019)
- [FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detection](https://mlsanity.com/paper/2104.10956/) (2021)
- [Deep Layer Aggregation](https://mlsanity.com/paper/1707.06484/) (2017)
- [3D Bounding Box Estimation Using Deep Learning and Geometry](https://mlsanity.com/paper/1612.00496/) (2016)
- [SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation](https://mlsanity.com/paper/2002.10111/) (2020)
- [Objects are Different: Flexible Monocular 3D Object Detection](https://mlsanity.com/paper/2104.02323/) (2021)
- [Learning Depth-Guided Convolutions for Monocular 3D Object Detection](https://mlsanity.com/paper/1912.04799/) (2019)
- [Stereo R-CNN based 3D Object Detection for Autonomous Driving](https://mlsanity.com/paper/1902.09738/) (2019)
- [RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Driving](https://mlsanity.com/paper/2001.03343/) (2020)
- [GS3D: An Efficient 3D Object Detection Framework for Autonomous Driving](https://mlsanity.com/paper/1903.10955/) (2019)
- [Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction](https://mlsanity.com/paper/1904.01690/) (2019)
- [CubeSLAM: Monocular 3D Object SLAM](https://mlsanity.com/paper/1806.00557/) (2018)
- [Deep MANTA: A Coarse-to-fine Many-Task Network for joint 2D and 3D vehicle analysis from monocular image](https://mlsanity.com/paper/1703.07570/) (2017)
- [MonoGRNet: A Geometric Reasoning Network for Monocular 3D Object Localization](https://mlsanity.com/paper/1811.10247/) (2018)
- [Deep Fitting Degree Scoring Network for Monocular 3D Object Detection](https://mlsanity.com/paper/1904.12681/) (2019)
- [3D Object Proposals using Stereo Imagery for Accurate Object Class Detection](https://mlsanity.com/paper/1608.07711/) (2016)

## Built on by (most cited first, 3 of 3)

- [MOSE: Boosting Vision-based Roadside 3D Object Detection with Scene Cues](https://mlsanity.com/paper/2404.05280/) (2024)
- [Efficient Vision-based Vehicle Speed Estimation](https://mlsanity.com/paper/2505.01203/) (2025)
- [Accurate Localization of Road Traffic Objects on the Road Plane Using Surveillance Camera Imagery](https://mlsanity.com/paper/2608.05840/) (2026)

## Abstract (arXiv)

Monocular 3D vehicle localization is an important task in Intelligent Transportation System (ITS) and Cooperative Vehicle Infrastructure System (CVIS), which is usually achieved by monocular 3D vehicle detection. However, depth information cannot be obtained directly by monocular cameras due to the inherent imaging mechanism, resulting in more challenging monocular 3D tasks. Most of the current monocular 3D vehicle detection methods leverage 2D detectors and additional geometric modules, which reduces the efficiency. In this paper, we propose a 3D vehicle localization network CenterLoc3D for roadside monocular cameras, which directly predicts centroid and eight vertexes in image space, and the dimension of 3D bounding boxes without 2D detectors. To improve the precision of 3D vehicle localization, we propose a weighted-fusion module and a loss with spatial constraints embedded in CenterLoc3D. Firstly, the transformation matrix between 2D image space and 3D world space is solved by camera calibration. Secondly, vehicle type, centroid, eight vertexes, and the dimension of 3D vehicle bounding boxes are obtained by CenterLoc3D. Finally, centroid in 3D world space can be obtained by camera calibration and CenterLoc3D for 3D vehicle localization. To the best of our knowledge, this is the first application of 3D vehicle localization for roadside monocular cameras. Hence, we also propose a benchmark for this application including a dataset (SVLD-3D), an annotation tool (LabelImg-3D), and evaluation metrics. Through experimental validation, the proposed method achieves high accuracy and real-time performance. (limited words, please see the article for more details)