{"id":"https://openalex.org/W2970531107","doi":"https://doi.org/10.1109/ivs.2019.8814036","title":"Beyond Bounding Boxes: Using Bounding Shapes for Real-Time 3D Vehicle Detection from Monocular RGB Images","display_name":"Beyond Bounding Boxes: Using Bounding Shapes for Real-Time 3D Vehicle Detection from Monocular RGB Images","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2970531107","doi":"https://doi.org/10.1109/ivs.2019.8814036","mag":"2970531107"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8814036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","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/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nils Gahlert","raw_affiliation_strings":["Daimler AG, R&D, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, R&D, Stuttgart, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002058801","display_name":"Jun-Jun Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jun-Jun Wan","raw_affiliation_strings":["Karlsruhe Institute of Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103159140","display_name":"Michael Weber","orcid":"https://orcid.org/0000-0002-2692-5568"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Weber","raw_affiliation_strings":["FZI, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060028048","display_name":"J. Marius Z\u00f6llner","orcid":"https://orcid.org/0000-0001-6190-7202"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Marius Zollner","raw_affiliation_strings":["FZI, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109566845","display_name":"Uwe Franke","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Uwe Franke","raw_affiliation_strings":["Daimler AG, R&D, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, R&D, Stuttgart, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"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, Jena, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, University of Jena, Jena, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"16","issue":null,"first_page":"675","last_page":"682"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.9039044380187988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7152849435806274},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.7108572721481323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6412922739982605},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.610245943069458},{"id":"https://openalex.org/keywords/bounding-volume","display_name":"Bounding volume","score":0.5749390721321106},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5580230951309204},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5334280729293823},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5145367980003357},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.48822906613349915},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.47941848635673523},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.45979592204093933},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4567086398601532},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.45669347047805786},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44903045892715454},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.28789451718330383},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2085602581501007},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14067992568016052},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.11493310332298279}],"concepts":[{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.9039044380187988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7152849435806274},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.7108572721481323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6412922739982605},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.610245943069458},{"id":"https://openalex.org/C184585634","wikidata":"https://www.wikidata.org/wiki/Q1434060","display_name":"Bounding volume","level":4,"score":0.5749390721321106},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5580230951309204},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5334280729293823},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5145367980003357},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.48822906613349915},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.47941848635673523},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.45979592204093933},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4567086398601532},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.45669347047805786},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44903045892715454},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.28789451718330383},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2085602581501007},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14067992568016052},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.11493310332298279},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2019.8814036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1533501036","https://openalex.org/W1946609740","https://openalex.org/W1949483711","https://openalex.org/W1985217382","https://openalex.org/W1994107985","https://openalex.org/W2031489346","https://openalex.org/W2097117768","https://openalex.org/W2114111978","https://openalex.org/W2115579991","https://openalex.org/W2150066425","https://openalex.org/W2155217696","https://openalex.org/W2307770531","https://openalex.org/W2342242867","https://openalex.org/W2402144811","https://openalex.org/W2407521645","https://openalex.org/W2468368736","https://openalex.org/W2555618208","https://openalex.org/W2557728737","https://openalex.org/W2559085405","https://openalex.org/W2560544142","https://openalex.org/W2560609797","https://openalex.org/W2570343428","https://openalex.org/W2600447016","https://openalex.org/W2605189827","https://openalex.org/W2613718673","https://openalex.org/W2884561390","https://openalex.org/W2892087253","https://openalex.org/W2896682286","https://openalex.org/W2897529137","https://openalex.org/W2904300946","https://openalex.org/W2949708697","https://openalex.org/W2950800384","https://openalex.org/W2953384591","https://openalex.org/W2962760512","https://openalex.org/W2963037989","https://openalex.org/W2963121255","https://openalex.org/W2963364380","https://openalex.org/W2963400571","https://openalex.org/W2963667201","https://openalex.org/W2963727135","https://openalex.org/W2964047820","https://openalex.org/W2964062501","https://openalex.org/W3106250896","https://openalex.org/W6620707391","https://openalex.org/W6697925102","https://openalex.org/W6703958665","https://openalex.org/W6713134421","https://openalex.org/W6714138976","https://openalex.org/W6739778489","https://openalex.org/W6763422710","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W50150243","https://openalex.org/W4255892988","https://openalex.org/W2982727105","https://openalex.org/W1650636191","https://openalex.org/W2138088016","https://openalex.org/W2382916420","https://openalex.org/W1490793564","https://openalex.org/W4236829951","https://openalex.org/W2358184370","https://openalex.org/W2171909355"],"abstract_inverted_index":{"The":[0],"representation":[1,106],"of":[2,15,34,87,115,124,153,176],"objects":[3],"as":[4,31,99,142,144,196,198],"2D":[5,21,90,131],"bounding":[6,81,91,101,113,125],"boxes":[7],"in":[8,57,127,162],"monocular":[9],"RGB":[10],"images":[11],"limits":[12],"the":[13,32,44,110,116,121,174,193,199],"faculty":[14],"current":[16,129],"computer":[17],"vision":[18],"systems":[19],"to":[20,26,51,63,120,159,178],"object":[22,132],"detection.":[23,171],"It":[24],"fails":[25],"provide":[27],"crucial":[28],"information":[29,168],"such":[30],"orientation":[33],"other":[35],"vehicles,":[36],"which":[37],"is":[38,49,157],"vital":[39],"for":[40,55,135,145,169],"autonomous":[41],"driving.":[42],"At":[43],"same":[45],"time,":[46],"real-time":[47,163],"performance":[48],"essential":[50],"qualify":[52],"an":[53,69],"approach":[54,70,191],"deployment":[56],"a":[58,78,84,88,100,151],"productive":[59],"environment.":[60],"In":[61],"order":[62],"tackle":[64],"this":[65,104],"problem,":[66],"we":[67,107],"present":[68],"that":[71],"predicts":[72],"several":[73],"key":[74,94],"points":[75,95],"selected":[76],"from":[77],"virtual":[79],"3D":[80,112],"box":[82,114],"around":[83],"vehicle":[85,170],"instead":[86],"pure":[89],"box.":[92],"These":[93],"can":[96,108],"be":[97,160],"interpreted":[98],"shape.":[102],"With":[103],"novel":[105,200],"calculate":[109],"actual":[111],"corresponding":[117],"object.":[118],"Thanks":[119],"straightforward":[122],"implementation":[123],"shape":[126],"any":[128],"state-of-the-art":[130],"detector":[133],"both":[134],"singleshot":[136],"frameworks":[137],"like":[138,148],"YOLO":[139],"or":[140],"SSD":[141,177,181],"well":[143,197],"two-stage":[146],"detectors":[147],"Faster-RCNN":[149],"with":[150],"minimum":[152],"computational":[154],"overhead,":[155],"it":[156],"able":[158],"run":[161],"while":[164],"providing":[165],"additional":[166],"useful":[167],"We":[172],"exemplify":[173],"extension":[175],"Bounding":[179],"Shape":[180],"(":[182],"BS":[183],"<sup":[184],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[185],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[186],"D)":[187],"and":[188],"evaluate":[189],"our":[190],"using":[192],"challenging":[194],"KITTI":[195],"VIPER":[201],"dataset.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}