MONOCULAR 3D DETECTION OF MOVING OBJECTS FROM UAV BASED ON SPATIO-TEMPORAL FEATURE ANALYSIS

I. D. Goncharov, V. A. Surin

Abstract


This article presents an approach to monocular 3D object detection for Unmanned Aerial Vehicles (UAVs) in the absence of external telemetry. We propose an architecture that leverages temporal context to implicitly extract independent object motion. A methodology for ego-motion compensation and a hybrid depth estimation model are described. Furthermore, we present a synthetic data generation pipeline within the CARLA environment and provide preliminary localization accuracy results. The proposed method enables real-time performance on the NVIDIA Jetson Orin platform.

Keywords


monocular 3D detection; UAV; temporal fusion; ego-motion compensation; CARLA simulator; Jetson Orin

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References


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