MonoMIP: Multi-Height Inverse Perspective Mapping for Monocular 3D Object Detection
Monocular 3D object detection methods increasingly rely on depth-guided transformers, but they operate entirely in the perspective image plane where spatial relationships are distorted by foreshortening. We propose MonoMIP, a dual-decoder framework that adds complementary 3D geometric reasoning through Bird's-Eye View (BEV) features constructed via Multi-Height Inverse Perspective Mapping. We perform IPM at K elevation planes spanning ground to rooftop, producing an ordered stack of height-conditioned metric BEV features that reduces above-ground misprojection and exposes depth-dependent appearance variation across planes. A BEV decoder with multi-scale deformable attention aggregates thi...
| Authors | Emir Ulurak, Furkan Kıraç |
|---|---|
| Primary category | cs.CV |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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