Monocular 3D Object Detection in Cylindrical Images from Fisheye Cameras

Detecting objects in 3D from a monocular camera has been successfully demonstrated using various methods based on convolutional neural networks. These methods have been demonstrated on rectilinear perspective images equivalent to being taken by a pinhole camera, whose geometry is explicitly or implicitly exploited. Such methods fail in images with alternative projections, such as those acquired by fisheye cameras, even when provided with a labeled training set of fisheye images and 3D bounding boxes. In this work, we show how to adapt existing 3D object detection methods to images from fisheye cameras, including in the case that no labeled fisheye data is available for training. We significantly outperform existing art on a benchmark of synthetic data, and we also experiment with an internal dataset of real fisheye images.