Matlab cuboid detect

Matlab code to detect cuboid object. There are two main parts: cuboid proposal generation, and proposal scoring.

NOTE We also provide a C++ version of cuboid detection and multi-view object SLAM. Please see cube_slam.

Authors: Shichao Yang

Related Paper:

• CubeSLAM: Monocular 3D Object Detection and SLAM without Prior Models, Arxiv 2018, S. Yang, S. Scherer PDF

How to run:

git clone git@github.com:shichaoy/matlab_cuboid_detect.git

then open Matlab

cd matlab_cuboid_detect
init_setup.m
detect_cuboid.m

Notes

1. Overview: See illustrations.pdf for corner indexing in generating proposals and 3D coordinate system.

2. data/ folder contains some preprocessing results. Edge detection is from this ros package line_lbd. The mat contains the 2D object bounding boxes. We use Yolo to detect 2D objects. Other similar methods can also be used. preprocessing/2D_object_detect is our prediction code to save images and txts. Sometimes there might be overlapping box of the same object instance. We need to filter and clean some detections. filter_match_2d_boxes.m for more details.