Monocular 3D Object Detection via Feature Domain Adaptation

Monocular 3D object detection is a challenging task due to unreliable depth, resulting in a distinct performance gap between monocular and LiDAR-based approaches. In this paper, we propose a novel domain adaptation based monocular 3D object detection framework named DA-3Ddet, which adapts the feature from unsound image-based pseudo-LiDAR domain to the accurate real LiDAR domain for performance boosting. In order to solve the overlooked problem of inconsistency between the foreground mask of pseudo and real LiDAR caused by inaccurately estimated depth, we also introduce a context-aware foreground segmentation module which helps to involve relevant points for foreground masking. Extensive experiments on KITTI dataset demonstrate that our simple yet effective framework outperforms other state-of-the-arts by a large margin.