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<!DOCTYPE html>
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<head>
<meta charset="utf-8">
<meta name="description"
content="CDrone - CARLA Drone: Monocular 3D Object Detection from a Different Perspective">
<meta name="keywords" content="Carla, Drone, CDrone, Monocular, 3D, Object Detection">
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<title>CDrone - CARLA Drone: Monocular 3D Object Detection from a Different Perspective</title>
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<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">CARLA Drone: Monocular 3D Object Detection from a Different Perspective</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://www.linkedin.com/in/johannes-meier-52a159b4/">Johannes Meier</a><sup>1,2,3</sup> </span>
<span class="author-block">
<a href="https://www.linkedin.com/in/luca-scalerandi">Luca Scalerandi</a><sup>1,2</sup></span>
<span class="author-block">
<a href="https://www.linkedin.com/in/oussema-dhaouadi/">Oussema Dhaouadi</a><sup>1,2,3</sup>
</span><br>
<span class="author-block">
<a href="https://www.linkedin.com/in/jacqueskaiser/">Jacques Kaiser</a><sup>1</sup>
</span>
<span class="author-block">
<a href="https://arnike.github.io/">Nikita Araslanov</a><sup>2,3</sup>
</span>
<span class="author-block">
<a href="https://cvg.cit.tum.de/members/cremers">Daniel Cremers</a><sup>2,3</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup> DeepScenario</span>
<span class="author-block"><sup>2</sup> TUM</span>
<span class="author-block"><sup>3</sup> MCML</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://arxiv.org/abs/2011.12948"
class="external-link button is-normal is-rounded is-dark">
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<span>arXiv</span>
</a>
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<span>Video</span>
</a>
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<span class="link-block">
<a href="https://github.com/meier-johannes94/EvalMono3D"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- Dataset Link. -->
<span class="link-block">
<a href="https://cvg.cit.tum.de/webshare/g/cdrone/data/"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>Data</span>
</a>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<img src="./static/images/teaser.png"
class="interpolation-image"
alt="Views (Waymo, Rope3D, CDrone) in comparison."/>
</div>
<h2 class="subtitle has-text-centered">
<span class="dnerf"></span>We perform Monocular 3D Object Detection from the car view (<a href="https://arxiv.org/pdf/1912.04838">Waymo</a>), traffic view (<a href="https://arxiv.org/pdf/2203.13608">Rope3D</a>) and drone view (<b><a href="https://cvg.cit.tum.de/webshare/g/cdrone/data/">CDrone</a>, Ours</b>) perspective. We achieve on par or substantially higher performance than previous state of the art methods across all datasets.
</h2>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Existing techniques for monocular 3D detection have a serious restriction. They tend to perform well only on a limited set of benchmarks,
faring well either on ego-centric car views or on traffic camera views, but rarely on both.
To encourage progress, this work advocates for an extended evaluation of 3D detection frameworks across different camera perspectives.
</p>
<p>
We make two key contributions. First, we introduce the CARLA Drone dataset, CDrone. Simulating drone views, it substantially expands the diversity of
camera perspectives in existing benchmarks. Despite its synthetic nature, CDrone represents a real-world challenge.
To show this, we confirm that previous techniques struggle to perform well both on CDrone and a real-world in-house 3D drone dataset.
</p>
<p>
Second, we develop an effective data augmentation pipeline called GroundMix.
Its distinguishing element is the use of the ground for creating 3D-consistent augmentation of a training image.
GroundMix significantly boosts the detection accuracy of a lightweight one-stage detector.
In our expanded evaluation setup, we achieve the average precision on par with or sub-stantially higher than the previous state of the art across all datasets.
</p>
</div>
</div>
</div>
<section class="hero is-light is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<img src="./static/images/cdrone/2024-06-01T18-04-33_0128.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T19-45-46_0586.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T19-50-47_0572.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T20-28-51_0440.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T20-34-23_0612.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T20-59-15_0274.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T21-17-56_0050.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T21-43-49_0424.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T22-13-59_1408.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T21-49-29_1010.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-01T23-48-29_1656.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
<div class="item item-chair-tp">
<img src="./static/images/cdrone/2024-06-02T20-09-21_0790.jpg"
class="interpolation-image"
alt="CDrone sample image" height="300"/>
</div>
</div>
</div>
<p><br><center><h2 class="title is-5">Our novel CDrone dataset</h2></center></p>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<h2 class="title is-3">Dataset Properties</h2>
<div class="content has-text-justified">
<p>
CDrone comprises 42 locations across 7 worlds within the Carla simulation environment, encompassing urban and rural landscapes.
Each recording is populated with 265 vehicles. With 900 images per location captured at a rate of 12.5 frames per second and a resolution of 1920x1080 pixel,
the dataset features a mixture of nighttime, daytime, dawn and rainy scenes.
In total, CDrone contains 174,958 car and 18,556 truck annotations.
It is divided into 24 training (21,600 images), 9 validation (8,100 images) and 9 test locations (8,100 images).
To foster future research, we also release track IDs, depth maps as well instance segmentation masks along with 2D and 3D bounding box labels.
Annotations are provided in the <a href="https://github.com/facebookresearch/omni3d/blob/main/DATA.md">OMNI3D format</a>,
and our <a href="https://github.com/meier-johannes94/EvalMono3D">evaluation toolkit</a> enables 3D average precision evaluation with full support for <i>SO(3)</i> rotations.
</p>
</div>
<div class="columns is-centered">
<!-- Visual Effects. -->
<div class="column">
<div class="content">
<h2 class="title is-5"><center>2D & 3D Bounding Boxes</center></h2>
<img src="./static/images/cdrone/2024-06-01T18-04-33_0128.jpg"
class="interpolation-image" style="border-radius: 10px; overflow: hidden;"
alt="CDrone sample image" height="300"/>
</div>
</div>
<!--/ Visual Effects. -->
<!-- Matting. -->
<div class="column">
<h2 class="title is-5"><center>Depth Maps</center></h2>
<div class="columns is-centered">
<div class="column content">
<img src="./static/images/cdrone/2024-06-01T18-04-33_0128_depth_gray.jpg"
class="interpolation-image" style="border-radius: 10px; overflow: hidden;"
alt="CDrone sample image" height="300"/>
</div>
</div>
</div>
<div class="column">
<h2 class="title is-5"><center>Inst. Segmentation Masks</center></h2>
<div class="columns is-centered">
<div class="column content">
<img src="./static/images/cdrone/2024-06-01T18-04-33_0128_seg.png"
class="interpolation-image" style="border-radius: 10px; overflow: hidden;"
alt="CDrone sample image" height="300"/>
</div>
</div>
</div>
</div>
<div class="columns is-centered">
<!-- Visual Effects. -->
<div class="column">
<div class="content">
<center><img src="./static/images/stats/datasets_depth.svg"
class="interpolation-image"
alt="CDrone sample image" style="height: 150px; object-fit: cover;"/></center>
</div>
</div>
<div class="column">
<div class="columns is-centered">
<div class="column content">
<center></center><img src="./static/images/stats/datasets_angle.svg"
class="interpolation-image"
alt="CDrone sample image" style="height: 150px; object-fit: cover;"/></center>
</div>
</div>
</div>
<div class="column">
<div class="columns is-centered">
<div class="column content">
<center></center><img src="./static/images/stats/datasets_bbox_width.svg"
class="interpolation-image"
alt="CDrone sample image" style="height: 150px; object-fit: cover;"/></center>
</div>
</div>
</div>
<div class="column">
<div class="columns is-centered">
<div class="column content">
<center></center><img src="./static/images/stats/datasets_bbox_height.svg"
class="interpolation-image"
alt="CDrone sample image" style="height: 150px; object-fit: cover;"/></center>
</div>
</div>
</div>
</div>
<div class="container is-max-desktop">
<h2 class="title is-5">Usage of the dataset</h2>
<div class="content has-text-justified">
<p>
<ul>
<li>Download the dataset from <a href="https://cvg.cit.tum.de/webshare/g/cdrone/data/">here</a> into a separate folder and execute <i>cat part_* > cdrone_combined.zip; unzip cdrone_combined.zip</i></li>
<li>Objects with a visibility below 0.2 are neither used for training, nor for evaluation</li>
</ul>
<p xmlns:cc="http://creativecommons.org/ns#" >This work is licensed under <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/?ref=chooser-v1" target="_blank" rel="license noopener noreferrer" style="display:inline-block;">CC BY-NC-SA 4.0<img style="height:22px!important;margin-left:3px;vertical-align:text-bottom;" src="https://mirrors.creativecommons.org/presskit/icons/cc.svg?ref=chooser-v1" alt=""><img style="height:22px!important;margin-left:3px;vertical-align:text-bottom;" src="https://mirrors.creativecommons.org/presskit/icons/by.svg?ref=chooser-v1" alt=""><img style="height:22px!important;margin-left:3px;vertical-align:text-bottom;" src="https://mirrors.creativecommons.org/presskit/icons/nc.svg?ref=chooser-v1" alt=""><img style="height:22px!important;margin-left:3px;vertical-align:text-bottom;" src="https://mirrors.creativecommons.org/presskit/icons/sa.svg?ref=chooser-v1" alt=""></a></p>
</p>
</div>
</div>
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-3"><br>Experiments</h2>
<center>
<div class="columns is-centered">
<!-- Visual Effects. -->
<div class="column">
<div class="content">
<h2 class="title is-5"><center>CDrone</center></h2>
<img src="./static/images/results/cdrone.jpg"
class="interpolation-image" style="border-radius: 10px; overflow: hidden; height: 170px"
alt="CDrone sample image" height="300"/>
</div>
</div>
<!--/ Visual Effects. -->
<!-- Matting. -->
<div class="column">
<h2 class="title is-5"><center>Rope3D</center></h2>
<div class="columns is-centered">
<div class="column content">
<img src="./static/images/results/rope3d.jpg"
class="interpolation-image" style="border-radius: 10px; overflow: hidden; height: 170px"
alt="CDrone sample image" height="300"/>
</div>
</div>
</div>
<div class="column">
<h2 class="title is-5"><center>Waymo</center></h2>
<div class="columns is-centered">
<div class="column content">
<img src="./static/images/results/waymo.png"
class="interpolation-image" style="border-radius: 10px; overflow: hidden; height: 170px"
alt="CDrone sample image" height="300"/>
</div>
</div>
</div>
</div></center>
<!-- Interpolating. -->
<div class="content has-text-justified">
<p>
We also conduct experiments on our in-house real-world drone dataset,
with similar results validating the reliability of our synthetic data and the effectiveness of the CDrone benchmark.
Please find here the results for <i>Epic Munich</i>, <i>Unparalleled Frankfurt</i> and <i>Versatile Kronach</i>.
</p>
</div>
<div class="columns is-vcentered interpolation-panel">
<div class="column is-3 has-text-centered">
<img src="./static/images/real/2022-04-25T16-21-24_00800.jpg_0.6_aug.png"
class="interpolation-image"
alt="Real-world drone data."/>
</div>
<div class="column is-3 has-text-centered">
<img src="./static/images/real/2022-04-28T15-03-06_0400.jpg_0.8_aug.png"
class="interpolation-image"
alt="Real-world drone data."/>
</div>
<div class="column is-3 has-text-centered">
<img src="./static/images/real/2023-09-26T16-31-44_00000.jpg_0.5_aug.png"
class="interpolation-image"
alt="Real-world drone data."/>
</div>
<div class="column is-3 has-text-centered">
<img src="./static/images/real/2024-04-15T14-09-10_00000.jpg_0.8_aug.png"
class="interpolation-image"
alt="Real-world drone data."/>
</div>
</div>
<div class="text_container">
For more real-world examples, visit <a href="https://app.deepscenario.com/">DeepScenario's Web App</a>.
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@article{meier2024cdrone,
author = {Meier, Johannes and Scalerandi, Luca and Dhaouadi, Oussema and Kaiser, Jacques and Araslanov Nikita and Cremers, Daniel},
title = {{CARLA Drone:} Monocular 3D Object Detection from a Different Perspective},
journal = {GCPR},
year = {2024},
}</code></pre>
</div>
</section>
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