FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detection

Monocular 3D object detection is an important task for autonomous driving considering its advantage of low cost. Our solution achieves 1st place out of all the vision-only methods in the nuScenes 3D detection challenge of NeurIPS 2020.

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• 1 It is much more challenging than conventional 2D cases due to its inherent ill-posed property, which is mainly reflected in the lack of depth information.
• 2 Recent progress on 2D detection offers opportunities to better solving this problem.
• 3 However, it is non-trivial to make a general adapted 2D detector work in this 3D task.

This research advances how AI systems learn, reason, and solve problems — with direct implications for automation and scientific discovery.

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