Rethinking Geometric Depth in Monocular 3D Object Detection: A Projection-Consistent Reformulation

원문 초록

Monocular 3D detection (Mono3D) hinges on recovering depth from a single image, for which the geometric formulation $z \approx f \cdot H / h_{2D}$ is widely adopted due to its simplicity and direct grounding in projective geometry. We show that this formulation harbors a systematic, projection-induced bias: substituting the 2D bounding-box height $h_{2D}$ recovers the depth of an object's visible front surface rather than its center, causing size-dependent underestimation that persists even under ground-truth inputs. We address this front-surface bias with MonoPCA, a unified framework built on a projection-consistent reformulation. At its core, PCDepth retains the measurable $h_{2D}$ and closes the gap to center depth through an orientation- and size-aware correction derived from perspective geometry, eliminating the bias without introducing ill-posed regression targets. Because PCDepth couples depth to predicted object size and orientation, attribute perception becomes essential. We therefore introduce GeoAlign, a teacher-student framework that transfers geometric representations from Vision Foundation Models into a lightweight student, strengthening attribute perception at no inference cost. Across four challenging benchmarks, MonoPCA achieves SoTA performance, including a +1.44% AP$_{3D}$ gain on the KITTI leaderboard and +2.80% on Omni3D$_{OUT}$. Code is available at https://github.com/alanzhangcs/MonoPCA.