Monocular 3D detection of vehicle and infrastructure sides are two important topics in autonomous driving. Due to diverse sensor installations and focal lengths, researchers are faced with the challenge of constructing algorithms for the two topics based on different prior knowledge. In this paper, by taking into account the diversity of pitch angles and focal lengths, we propose a unified optimization target named normalized depth, which realizes the unification of 3D detection problems for the two sides. Furthermore, to enhance the accuracy of monocular 3D detection, 3D normalized cube depth of obstacle is developed to promote the learning of depth information. We posit that the richness of depth clues is a pivotal factor impacting the detection performance on both the vehicle and infrastructure sides. A richer set of depth clues facilitates the model to learn better spatial knowledge, and the 3D normalized cube depth offers sufficient depth clues. Extensive experiments demonstrate the effectiveness of our approach. Without introducing any extra information, our method, named MonoUNI, achieves state-of-the-art performance on five widely used monocular 3D detection benchmarks, including Rope3D and DAIR-V2X-I for the infrastructure side, KITTI and Waymo for the vehicle side, and nuScenes for the cross-dataset evaluation.

Our main reconstruction loss is an MSE between the rendered color c and the corresponding pixel in the input image. This loss is then exponentially faded over 100,000 steps to a cosine weighted MSE: (x ωo n ˆxωo n)2. This weighting tends to achieve better BRDF fitting results [4] as harsh grazing highlights from the Fresnel effect are not factored as much as regular samples, as well as our approximated rendering model being the least accurate in the grazing angles. The reason for this fading loss scheme is that the normals nare not reliable in the early stages of the training.

Neural networks are known to be vulnerable to adversarial attacks - slight but carefully constructed perturbations of the inputs which can drastically impair the network's performance. Many defense methods have been proposed for improving robustness of deep networks by training them on adversarially perturbed inputs. However, these models often remain vulnerable to new types of attacks not seen during training, and even to slightly stronger versions of previously seen attacks. In this work, we propose a novel approach to adversarial robustness, which builds upon the insights from the domain adaptation field. Our method, called Adversarial Feature Desensitization (AFD), aims at learning features that are invariant towards adversarial perturbations of the inputs. This is achieved through a game where we learn features that are both predictive and robust (insensitive to adversarial attacks), i.e. cannot be used to discriminate between natural and adversarial data. Empirical results on several benchmarks demonstrate the effectiveness of the proposed approach against a wide range of attack types and attack strengths. Our code is available at https://github.com/BashivanLab/afd.

We used the largest batch size that could fit in memory on our limited hardware, which was 256 for an image size of 224x224. For the learning rate (Adam [2] optimizer) we searched in the range of {0.001, 0.0001, 1e04, 5e-4, 5e-5}, with weight decay {0, 5e-4. We chose a weight decay of 5e-5 and learning rate of 5e-4 until the 4:6 split and 1e-4 afterwards. We chose a prototype dimension of 256, backbone output of 512, 2 graph layers, graph hidden dimension of 512, λh of 10, Clst and Sep of 0.01. UT-Zappos we again used the Adam optimizer, with learning rate in the ranges {5e-5, 5e-4, 5e-3}, and weight decay {0, 5e-4.