Learning Auxiliary Monocular Contexts Helps Monocular 3D Object Detection (3)
损失函数分为3种类型:
(1) 对于热力图,用以下的Focal Loss计算:
(2) 对于深度,采用Laplacian aleatoric uncertainty loss function for depth计算:
(3) 对于尺寸采用L1 Loss计算:
损失函数分为3种类型:
(1) 对于热力图,用以下的Focal Loss计算:
(2) 对于深度,采用Laplacian aleatoric uncertainty loss function for depth计算:
(3) 对于尺寸采用L1 Loss计算:
