# MonoTDP: Twin Depth Perception for Monocular 3D Object Detection in Adverse Scenes

arXiv: https://arxiv.org/abs/2305.10974 · HTML: https://mlsanity.com/paper/2305.10974/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 53 references that are in the map.
- First posted on arXiv 18 May 2023.

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

- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [SwinIR: Image Restoration Using Swin Transformer](https://mlsanity.com/paper/2108.10257/) (2021)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [Learning to See in the Dark](https://mlsanity.com/paper/1805.01934/) (2018)
- [Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving](https://mlsanity.com/paper/1812.07179/) (2018)
- [FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detection](https://mlsanity.com/paper/2104.10956/) (2021)
- [Kindling the Darkness: A Practical Low-light Image Enhancer](https://mlsanity.com/paper/1905.04161/) (2019)
- [Target-aware Dual Adversarial Learning and a Multi-scenario Multi-Modality Benchmark to Fuse Infrared and Visible for Object Detection](https://mlsanity.com/paper/2203.16220/) (2022)
- [DehazeNet: An End-to-End System for Single Image Haze Removal](https://mlsanity.com/paper/1601.07661/) (2016)
- [Learning Enriched Features for Real Image Restoration and Enhancement](https://mlsanity.com/paper/2003.06792/) (2020)
- [3D Bounding Box Estimation Using Deep Learning and Geometry](https://mlsanity.com/paper/1612.00496/) (2016)
- [M3D-RPN: Monocular 3D Region Proposal Network for Object Detection](https://mlsanity.com/paper/1907.06038/) (2019)
- [Density-aware Single Image De-raining using a Multi-stream Dense Network](https://mlsanity.com/paper/1802.07412/) (2018)
- [LLNet: A Deep Autoencoder Approach to Natural Low-light Image Enhancement](https://mlsanity.com/paper/1511.03995/) (2015)
- [SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation](https://mlsanity.com/paper/2002.10111/) (2020)
- [Image De-raining Using a Conditional Generative Adversarial Network](https://mlsanity.com/paper/1701.05957/) (2017)
- [Spatial Attentive Single-Image Deraining with a High Quality Real Rain Dataset](https://mlsanity.com/paper/1904.01538/) (2019)
- [Objects are Different: Flexible Monocular 3D Object Detection](https://mlsanity.com/paper/2104.02323/) (2021)
- [Heavy Rain Image Restoration: Integrating Physics Model and Conditional Adversarial Learning](https://mlsanity.com/paper/1904.05050/) (2019)
- [Geometry Uncertainty Projection Network for Monocular 3D Object Detection](https://mlsanity.com/paper/2107.13774/) (2021)
- [RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Driving](https://mlsanity.com/paper/2001.03343/) (2020)
- [Densely Connected Pyramid Dehazing Network](https://mlsanity.com/paper/1803.08396/) (2018)
- [Delving into Localization Errors for Monocular 3D Object Detection](https://mlsanity.com/paper/2103.16237/) (2021)
- [A Model-driven Deep Neural Network for Single Image Rain Removal](https://mlsanity.com/paper/2005.01333/) (2020)
- [ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shape](https://mlsanity.com/paper/1812.02781/) (2018)
- [SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation](https://mlsanity.com/paper/2108.06709/) (2021)

## Built on by (most cited first, 2 of 2)

- [MonoCT: Overcoming Monocular 3D Detection Domain Shift with Consistent Teacher Models](https://mlsanity.com/paper/2503.13743/) (2025)
- [UniDA3D: A Unified Domain-Adaptive Framework for Multi-View 3D Object Detection](https://mlsanity.com/paper/2603.27995/) (2026)

## Abstract (arXiv)

3D object detection plays a crucial role in numerous intelligent vision systems. Detection in the open world inevitably encounters various adverse scenes, such as dense fog, heavy rain, and low light conditions. Although existing efforts primarily focus on diversifying network architecture or training schemes, resulting in significant progress in 3D object detection, most of these learnable modules fail in adverse scenes, thereby hindering detection performance. To address this issue, this paper proposes a monocular 3D detection model designed to perceive twin depth in adverse scenes, termed MonoTDP, which effectively mitigates the degradation of detection performance in various harsh environments. Specifically, we first introduce an adaptive learning strategy to aid the model in handling uncontrollable weather conditions, significantly resisting degradation caused by various degrading factors. Then, to address the depth/content loss in adverse regions, we propose a novel twin depth perception module that simultaneously estimates scene and object depth, enabling the integration of scene-level features and object-level features. Additionally, we assemble a new adverse 3D object detection dataset encompassing a wide range of challenging scenes, including rainy, foggy, and low light weather conditions, with each type of scene containing 7,481 images. Experimental results demonstrate that our proposed method outperforms current state-of-the-art approaches by an average of 3.12% in terms of AP_R40 for car category across various adverse environments.