3D Object Proposals for Accurate Object Class Detection
A note about reviews: "heavy" review comments were provided by reviewers in the program committee as part of the evaluation process for NIPS 2015, along with posted responses during the author feedback period. Numerical scores from both "heavy" and "light" reviewers are not provided in the review link below.
Conference Event Type: Poster
The goal of this paper is to generate high-quality 3D object proposals in the context of autonomous driving. Our method exploits stereo imagery to place proposals in the form of 3D bounding boxes. We formulate the problem as minimizing an energy function encoding object size priors, ground plane as well as several depth informed features that reason about free space, point cloud densities and distance to the ground. Our experiments show significant performance gains over existing RGB and RGB-D object proposal methods on the challenging KITTI benchmark. Combined with convolutional neural net (CNN) scoring, our approach outperforms all existing results on all three KITTI object classes.