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:

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