MonoRange: Monocular 3-D Object Detection Based on Object-Centric Range Map in Adverse Weather Conditions

Monocular 3D object detection has been studied as a promising task for diverse applications, such as autonomous driving, due to its lower cost and more straightforward configuration than multiple sensors. However, existing studies have focused on clear weather without considering diverse weather conditions with varying intensity, such as rain, snow, and fog, affecting detection performance. In this paper, we propose MonoRange, a monocular 3D object detection method that uses object-centric images and range maps in adverse weather conditions. Leveraging the 2D detection results, MonoRange generates range maps from images via an object-centric range map reconstruction. Furthermore, MonoRange flexibly removes adverse weather noise in images via weather intensity adaptive image restoration with a weight modulation transformer. Then, MonoRange fuses the range map and restored image and predicts 3D bounding boxes via the range map aligned detector. Introducing the projected box consistency loss between 2D and 3D boxes also enables to consistent and accurate 3D object detection. Experimental results on diverse weather datasets demonstrate that MonoRange surpasses existing monocular 3D object detection approaches. The source code is available at https://github.com/jhyoon964/MonoRange