{"id":"https://openalex.org/W3120781197","doi":"https://doi.org/10.1109/iv47402.2020.9304847","title":"Single-Shot 3D Detection of Vehicles from Monocular RGB Images via Geometrically Constrained Keypoints in Real-Time","display_name":"Single-Shot 3D Detection of Vehicles from Monocular RGB Images via Geometrically Constrained Keypoints in Real-Time","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https://openalex.org/W3120781197","doi":"https://doi.org/10.1109/iv47402.2020.9304847","mag":"3120781197"},"language":"en","primary_location":{"id":"doi:10.1109/iv47402.2020.9304847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034177707","display_name":"Nils G\u00e4hlert","orcid":"https://orcid.org/0000-0002-3622-2903"},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Nils Gahlert","raw_affiliation_strings":["Mercedes-Benz AG, R&D, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mercedes-Benz AG, R&D, Stuttgart, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002058801","display_name":"Jun-Jun Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I76198965","display_name":"Friedrich Schiller University Jena","ror":"https://ror.org/05qpz1x62","country_code":"DE","type":"education","lineage":["https://openalex.org/I76198965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jun-Jun Wan","raw_affiliation_strings":["University of Jena, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Jena, Germany","institution_ids":["https://openalex.org/I76198965"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064960759","display_name":"Nicolas Jourdan","orcid":"https://orcid.org/0000-0003-0159-2442"},"institutions":[{"id":"https://openalex.org/I76198965","display_name":"Friedrich Schiller University Jena","ror":"https://ror.org/05qpz1x62","country_code":"DE","type":"education","lineage":["https://openalex.org/I76198965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nicolas Jourdan","raw_affiliation_strings":["University of Jena, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Jena, Germany","institution_ids":["https://openalex.org/I76198965"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079469147","display_name":"Jan Finkbeiner","orcid":"https://orcid.org/0000-0003-4556-3758"},"institutions":[{"id":"https://openalex.org/I76198965","display_name":"Friedrich Schiller University Jena","ror":"https://ror.org/05qpz1x62","country_code":"DE","type":"education","lineage":["https://openalex.org/I76198965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Finkbeiner","raw_affiliation_strings":["University of Jena, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Jena, Germany","institution_ids":["https://openalex.org/I76198965"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109566845","display_name":"Uwe Franke","orcid":null},"institutions":[{"id":"https://openalex.org/I76198965","display_name":"Friedrich Schiller University Jena","ror":"https://ror.org/05qpz1x62","country_code":"DE","type":"education","lineage":["https://openalex.org/I76198965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Uwe Franke","raw_affiliation_strings":["University of Jena, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Jena, Germany","institution_ids":["https://openalex.org/I76198965"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024934744","display_name":"Joachim Denzler","orcid":"https://orcid.org/0000-0002-3193-3300"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joachim Denzler","raw_affiliation_strings":["Computer Vision Group, University of Jena, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, University of Jena, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034177707"],"corresponding_institution_ids":["https://openalex.org/I1332474105"],"apc_list":null,"apc_paid":null,"fwci":1.471,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.8509183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"437","last_page":"444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8124465942382812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7588510513305664},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.7275856733322144},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7237384915351868},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.7139201164245605},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6258258819580078},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5399669408798218},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5118126273155212},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.48298612236976624},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4751660227775574},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.45174264907836914},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.44206884503364563},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.42938685417175293},{"id":"https://openalex.org/keywords/single-shot","display_name":"Single shot","score":0.4176653027534485},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32762420177459717},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12945237755775452}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8124465942382812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7588510513305664},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.7275856733322144},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7237384915351868},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.7139201164245605},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6258258819580078},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5399669408798218},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5118126273155212},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.48298612236976624},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4751660227775574},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.45174264907836914},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.44206884503364563},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.42938685417175293},{"id":"https://openalex.org/C3019835501","wikidata":"https://www.wikidata.org/wiki/Q1310130","display_name":"Single shot","level":2,"score":0.4176653027534485},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32762420177459717},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12945237755775452},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iv47402.2020.9304847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:128987","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/128987/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2097117768","https://openalex.org/W2099471712","https://openalex.org/W2115579991","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2436453945","https://openalex.org/W2468368736","https://openalex.org/W2557728737","https://openalex.org/W2560544142","https://openalex.org/W2605189827","https://openalex.org/W2613718673","https://openalex.org/W2796347433","https://openalex.org/W2798462325","https://openalex.org/W2799123546","https://openalex.org/W2893813411","https://openalex.org/W2897093520","https://openalex.org/W2945555312","https://openalex.org/W2952394248","https://openalex.org/W2953941229","https://openalex.org/W2954174912","https://openalex.org/W2962708411","https://openalex.org/W2963263347","https://openalex.org/W2963351448","https://openalex.org/W2963794551","https://openalex.org/W2964062501","https://openalex.org/W2964166085","https://openalex.org/W2970531107","https://openalex.org/W2971011093","https://openalex.org/W2971173446","https://openalex.org/W2972211064","https://openalex.org/W2972231983","https://openalex.org/W2981857055","https://openalex.org/W2981949127","https://openalex.org/W2996166203","https://openalex.org/W2996181357","https://openalex.org/W2997790735","https://openalex.org/W2998633559","https://openalex.org/W2999947750","https://openalex.org/W3003618643","https://openalex.org/W3004287531","https://openalex.org/W3011371059","https://openalex.org/W3011914484","https://openalex.org/W3021304778","https://openalex.org/W3035216685","https://openalex.org/W3035574168","https://openalex.org/W3106250896","https://openalex.org/W4289283268","https://openalex.org/W4293584584","https://openalex.org/W4320013936","https://openalex.org/W6620707391","https://openalex.org/W6726497184","https://openalex.org/W6730028961","https://openalex.org/W6756392615","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2095705906","https://openalex.org/W4224011692","https://openalex.org/W3130645678","https://openalex.org/W2975200075","https://openalex.org/W2770260910","https://openalex.org/W2138569648","https://openalex.org/W2931206373","https://openalex.org/W2940521082","https://openalex.org/W2801801420","https://openalex.org/W4225418833"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,114,157,164],"propose":[4],"a":[5,65],"novel":[6,151],"3D":[7,25,51,67,124,144],"single-shot":[8],"object":[9,43,106],"detection":[10,107],"method":[11,63],"for":[12,83,120,134,178],"detecting":[13],"vehicles":[14],"in":[15,169],"monocular":[16],"RGB":[17],"images.":[18],"Our":[19,61],"approach":[20,99,130],"lifts":[21],"2D":[22,42],"detections":[23],"to":[24,40,50],"space":[26],"by":[27,77],"predicting":[28],"additional":[29,46],"regression":[30],"and":[31,34,137,182],"classification":[32],"parameters":[33,47],"hence":[35],"keeping":[36],"the":[37,56,84,94,116,121,141,150],"runtime":[38],"close":[39],"pure":[41],"detection.":[44],"The":[45],"are":[48],"transformed":[49],"bounding":[52,125],"box":[53],"keypoints":[54,92],"within":[55,93],"network":[57],"under":[58],"geometric":[59],"constraints.":[60],"proposed":[62],"features":[64],"full":[66],"description":[68],"including":[69],"all":[70,179],"three":[71],"angles":[72],"of":[73,118,123,171],"rotation":[74],"without":[75],"supervision":[76],"any":[78,104],"labeled":[79],"ground":[80],"truth":[81],"data":[82],"object's":[85],"orientation,":[86],"as":[87,147,149],"it":[88,139],"focuses":[89],"on":[90,131,161],"certain":[91],"image":[95,183],"plane.":[96],"While":[97,156],"our":[98,129],"can":[100],"be":[101],"combined":[102],"with":[103,109,173],"modern":[105],"framework":[108],"only":[110],"little":[111],"computational":[112],"overhead,":[113],"exemplify":[115],"extension":[117],"SSD":[119],"prediction":[122],"boxes.":[126],"We":[127],"test":[128],"different":[132],"datasets":[133,181],"autonomous":[135],"driving":[136],"evaluate":[138],"using":[140],"challenging":[142],"KITTI":[143],"Object":[145,153],"Detection":[146,154],"well":[148],"nuScenes":[152],"benchmarks.":[155],"achieve":[158],"competitive":[159],"results":[160],"both":[162],"benchmarks":[163],"outperform":[165],"current":[166],"state-of-the-art":[167],"methods":[168],"terms":[170],"speed":[172],"more":[174],"than":[175],"20":[176],"FPS":[177],"tested":[180],"resolutions.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
