MonoLoco: Monocular 3D Pedestrian Localization and Uncertainty Estimation

by   Lorenzo Bertoni, et al.

We tackle the fundamentally ill-posed problem of 3D human localization from monocular RGB images. Driven by the limitation of neural networks outputting point estimates, we address the ambiguity in the task with a new neural network predicting confidence intervals through a loss function based on the Laplace distribution. Our architecture is a light-weight feed-forward neural network which predicts the 3D coordinates given 2D human pose. The design is particularly well suited for small training data and cross-dataset generalization. Our experiments show that (i) we outperform state-of-the art results on KITTI and nuScenes datasets, (ii) even outperform stereo for far-away pedestrians, and (iii) estimate meaningful confidence intervals. We further share insights on our model of uncertainty in case of limited observation and out-of-distribution samples.


page 1

page 7

page 8


MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization

Monocular and stereo vision are cost-effective solutions for 3D human lo...

Perceiving Humans: from Monocular 3D Localization to Social Distancing

Perceiving humans in the context of Intelligent Transportation Systems (...

Assessments of model-form uncertainty using Gaussian stochastic weight averaging for fluid-flow regression

We use Gaussian stochastic weight averaging (SWAG) to assess the model-f...

Recognition and 3D Localization of Pedestrian Actions from Monocular Video

Understanding and predicting pedestrian behavior is an important and cha...

Likelihood-ratio-based confidence intervals for neural networks

This paper introduces a first implementation of a novel likelihood-ratio...

Confidence intervals for class prevalences under prior probability shift

Point estimation of class prevalences in the presence of data set shift ...

Deep Multitask Architecture for Integrated 2D and 3D Human Sensing

We propose a deep multitask architecture for fully automatic 2d and 3d h...

Please sign up or login with your details

Forgot password? Click here to reset