---
tags:
- vision
- 3D
- 3D object detection
datasets:
- omni3d
metrics:
- AP
---

# 3D Object Detection with Cube R-CNN

3D Object Detection with Cube R-CNN is described in [**Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wild**](https://arxiv.org/abs/2207.10660) and released in this [repository](https://github.com/facebookresearch/omni3d)

## Overview
A description of the model and its architecture are shown below

<img src="https://s3.amazonaws.com/moonup/production/uploads/1666115971617-634ededbd049354d7ee4b557.png" width=700px/>    

## Training Data

Cube R-CNN was trained on Omni3D, a large benchmark for 3D object detection in the wild.

## Demo: Inference on Any Image

The model detects objects in 3D from a single image. There are 50 distinct object categories including *car, truck, chair, table, cabinet, books, and many more*.
The model assumes known focal length for the image in order to predict the right metric scale. 
However, users can provide any focal length and will get predictions on a "relative" scale. 

For example, we can predict 3D objects from COCO images with a user-defined focal length of 4.0, as shown below

<img src="https://github.com/facebookresearch/omni3d/blob/main/.github/generalization_coco.png?raw=true" width=500px/>

The above output is produced by our demo

```bash
python demo/demo.py \
--config cubercnn://omni3d/cubercnn_DLA34_FPN.yaml \
--input-folder "datasets/image_inputs" \
--threshold 0.25 --focal 4.0 --display \
MODEL.WEIGHTS cubercnn://omni3d/cubercnn_DLA34_FPN.pth \
OUTPUT_DIR output/demo 
```

## Checkpoints

You can find model checkpoints in the original [model zoo](https://github.com/facebookresearch/omni3d/blob/main/MODEL_ZOO.md).

## Intended Use and Limitations

Cube R-CNN is a data-driven method trained on an annotated dataset, Omni3D. The purpose of the project is to advance 3D computer vision and 3D object recognition. The dataset contains a *pedestrian* category, which we acknowledge as a potential issue in the case of unethical applications of our model.

The limitations of our approach are: erroneous predictions especially for far away objects, mistakes in predicting rotations and depth. Our evaluation reports an analysis for various depths and object sizes to better understand performance.