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Predicting Vehicle Pose in Six Degrees of Freedom from Single Image in Real-World Traffic Environments Using Deep Pretrained Convolutional Networks and Modified Centernet Cover

Predicting Vehicle Pose in Six Degrees of Freedom from Single Image in Real-World Traffic Environments Using Deep Pretrained Convolutional Networks and Modified Centernet

Open Access
|Aug 2024

Figures & Tables

Figure 1:

Schematic design of the proposed modified CenterNet model.
Schematic design of the proposed modified CenterNet model.

Figure 2:

ResNet50 architecture.
ResNet50 architecture.

Figure 3:

ResNext50 architecture.
ResNext50 architecture.

Figure 4:

Inception-ResNetV2 architecture.
Inception-ResNetV2 architecture.

Figure 5:

DenseNet201 architecture.
DenseNet201 architecture.

Figure 6:

Original images with ground truth labels.
Original images with ground truth labels.

Figure 7:

Comparative analysis of training loss.
Comparative analysis of training loss.

Figure 8:

Comparative analysis based on A3DP-Abs. A3DP-Abs, absolute translation thresholds.
Comparative analysis based on A3DP-Abs. A3DP-Abs, absolute translation thresholds.

Figure 9:

Comparative analysis based on A3DP-Rel. A3DP-Rel, relative translation thresholds.
Comparative analysis based on A3DP-Rel. A3DP-Rel, relative translation thresholds.

Performance evaluation of SOTA models based on A3DP-Rel

ModelMeanC-l (loose criteria)C-S (strict criteria)
3D-RCNN (CVPR,18)10.7917.8211.88
Direct-Based (CVPR,19)11.4917.8211.88

Comparison of training loss

ModelRegression lossMask lossTotal loss
Center-Inception-ResNetV20.852441.63116452.484085
Center-ResNet500.7664750.6665251.432925
Center-DenseNet2010.4500102.5146732.964682
Center-ResNext500.4664750.2665250.733000

Performance evaluation of proposed models based on A3DP-Rel

ModelMeanC-l (loose criteria)C-S (strict criteria)
Center-DenseNet20111.8223.8910.85
Center-ResNet5010.5123.009.50
Center-Inception-ResNetV29.8122.609.42
Center-ResNext509.6122.179.04

Performance evaluation of SOTA models based on A3DP-Abs

ModelMeanl (loose criteria)S (strict criteria)
3D-RCNN (CVPR,18)16.4429.7019.80
Direct-Based (CVPR,19)15.1528.7117.82

Performance evaluation of proposed models based on A3DP-Abs

ModelMeanC-l (loose criteria)C-S (strict criteria)
Center-DenseNet20139.9252.28444.68
Center-ResNet5038.85450.12043.44
Center-Inception-ResNetV238.39948.61443.20
Center-ResNext5037.0647.02741.52
Language: English
Submitted on: Apr 18, 2024
Published on: Aug 6, 2024
Published by: Professor Subhas Chandra Mukhopadhyay
In partnership with: Paradigm Publishing Services
Publication frequency: 1 issue per year

© 2024 Suresh Kolekar, Shilpa Gite, Biswajeet Pradhan, Abdulla Alamri, published by Professor Subhas Chandra Mukhopadhyay
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.