MonoPRIO: Adaptive Prior Conditioning for Unified Monocular 3D Object Detection
Monocular 3D object detection remains challenging because metric size and depth are underdetermined by single-view evidence, particularly under occlusion, truncation, and projection-induced scale-depth ambiguity. Although recent methods improve depth and geometric reasoning, metric size remains unstable in unified multi-class settings, where class variability and partial visibility broaden plausible size modes. We propose MonoPRIO, a unified monocular 3D detector that targets this bottleneck through adaptive prior conditioning in the size pathway. MonoPRIO constructs class-aware size prototypes offline, routes each decoder query to a soft mixture prior, applies uncertainty-aware log-space...
| Authors | Leon Davies, Qinggang Meng, Mohamad Saada et al. |
|---|---|
| Primary category | cs.CV |
| Published | 14 May 2026 |
| Last updated at source | 14 May 2026 |
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