南京信息工程大学学报2026，Vol.18Issue(3)：289-301,13.DOI:10.13878/j.cnki.jnuist.20250314001
时序特征与几何约束辅助的三维目标检测技术及应用
3D object detection with temporal features and geometric constraints:techniques and applications
摘要
Abstract
Current mainstream monocular 3D object detection networks,which are based on keypoint detection,ex-hibit limitations in temporal feature modeling,geometric constraint utilization,and depth estimation,thereby constrai-ning the overall performance of 3D detectors.This paper proposes MonoTGD(Monocular Temporal Geometric Deep),an improved monocular 3D object detection algorithm.The proposed framework incorporates three key mod-ules:a temporal feature interaction module that leverages both long-and short-term temporal information from multi-frame sequences to enhance feature representation consistency and dynamic modeling capabilities;a geometric struc-ture enhancement module that improves keypoint prediction accuracy by expanding the keypoint set and enforcing geometric consistency constraints;a pseudo-depth generation and supervision module that produces pseudo-depth maps without requiring LiDAR data,thereby providing effective supervisory signals for depth estimation.Crucially,all these modules are used only during the training phase,introducing no additional computational cost during infer-ence.Experiments on the KITTI3D dataset show that MonoTGD significantly improves performance.Specifically,it increases the average precision of 3D detection on the validation set by 4.25 percentage points in the easy category.More importantly,it achieves a gain of 4.82 percentage points in the moderate difficulty category on the test set,which fully validates the method's effectiveness in practical application scenarios.关键词
3D目标检测/时序特征建模/多关键点约束/深度估计/几何一致性Key words
3D object detection/temporal feature modeling/multi-keypoint constraints/depth estimation/geometric consistency分类
信息技术与安全科学引用本文复制引用
许德刚,刘栋梁,李滨,李宝森..时序特征与几何约束辅助的三维目标检测技术及应用[J].南京信息工程大学学报,2026,18(3):289-301,13.基金项目
河南省重大科技专项(241100210100) （241100210100）
河南工业大学粮食信息处理中心科研平台开放课题(KFJJ2023003) （KFJJ2023003）
