3D Object Detection with Stereo Vision and Transformer

Abstract

Identifying 3D objects with computer vision in a precise manner has been a challenging task in the field of autonomous driving. Partly because it requires proper depth estimation. Until now, Li-DAR technology has been used to achieve this task which is precise but also expensive. The introduction of pseudo Li-DAR promises an alternative approach which is cheaper with fairly good precision. However, pseudo Li-DAR can be replaced with 2D image representation with similar precision. Transformer is another technology which is widely used to process sequential data. Recent studies show that transformer can also be used for object detection purposes. In this literature, we look into the concept of pseudo Li-DAR, image representation of depth and detection transformer(DETR). Later, we introduce a new approach of using image based depth output with DETR to achieve accurate object detection. Finally, we compare our results with other available methods used for object detection in order to establish a benchmark.