关键词: 计算机视觉, 三维目标检测, 室内场景, 室外场景, 单目视觉, 双目/深度视觉

Abstract: Vision-based object detection is an important component of environment perception systems. It has been a research hotspot in computer vision, robotics and other related fields. The 3D object detection is based on the 2D object detection, which involves the estimation of the object scale, localization and pose estimation in the camera coordinate. Compared to 2D object detection, there are still a big gap for 3D object detection in terms of accuracy and real-time performance. This paper systematically surveys the state-of-the-art vision-based 3D object detection methods based on monocular vision, stereo vision and RGB-D, and classifies them according to indoor and outdoor scenes. In addition, the paper compares and analyzes these methods on KITTI, SUN RGB-D and other datasets, and discusses on the future research direction.

Key words: computer-vision, 3D object detection, indoor scene, outdoor scene, monocular vision, stereo/depth vision