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A Neural Network Architecture for Accurate 4D Vehicle Pose Estimation from Monocular Images with Uncertainty Assessment


[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ SzD ] doctoral school student | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technology

Year of publication


Chapter type

chapter in monograph / paper

Publication language


  • Vehicle pose estimation
  • 3D scene understanding
  • Deep learning

EN This paper proposes a new neural network architecture for estimating the four degrees of freedom poses of vehicles from monocular images in an uncontrolled environment. The neural network learns how to reconstruct 3D characteristic points of vehicles from image crops and coordinates of 2D keypoints estimated from these images. The 3D and 2D points are used to compute the vehicle pose solving the Perspective-n-Point problem, while the uncertainty is propagated by applying the Unscented Transform. Our network is trained and tested on the ApolloCar3D dataset, and we introduce a novel method to automatically obtain approximate labels for 3D points in this dataset. Our system outperforms state-of-the-art pose estimation methods on the ApolloCar3D dataset, and unlike competitors, it implements a full pipeline of uncertainty propagation.

Pages (from - to)

396 - 412



Neural Information Processing : 30th International Conference, ICONIP 2023, Changsha, China, November 20–23, 2023, Proceedings, Part VIII

Presented on

ICONIP: International Conference on Neural Information Processing, 20-23.11.2023, Changsha, China

Ministry points / chapter


Ministry points / conference (CORE)


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