Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding Articles uri icon

publication date

  • September 2018

start page

  • 74

end page

  • 86


  • 4


  • 10

International Standard Serial Number (ISSN)

  • 1941-1197

Electronic International Standard Serial Number (EISSN)

  • 1939-1390


  • Environment perception is a critical enabler for automated driving systems since it allows a comprehensive understanding of traffic situations, which is a requirement to ensure safe and reliable operation. Among the different applications, obstacle identification is a primary module of the perception system. We propose a vision-based method built upon a deep convolutional neural network that can reason simultaneously about the location of objects in the image and their orientations on the ground plane. The same set of convolutional layers is used for the different tasks involved, avoiding the repetition of computations over the same image. Experiments on the KITTI dataset show that our efficiency-oriented method achieves state-of-the-art accuracies for object detection and viewpoint estimation, and is particularly suitable for the recognition of traffic situations from on-board vision systems. Code is available at


  • Mechanical Engineering


  • convolution; feedforward neural nets; object detection; object recognition; robot vision; traffic engineering computing