SoK: Vehicle Orientation Representations for Deep Rotation Estimation

Abstract: In recent years, there is an influx of deep learning models for 3D vehicle object detection. However, little attention was paid to orientation prediction. Existing research work proposed various vehicle orientation representation methods for deep learning, however a holistic, systematic review has not been conducted. Through our experiments, we categorize and compare the accuracy performance of various existing orientation representations using the KITTI 3D object detection dataset, and propose a new form of orientation representation: Tricosine. Among these, the 2D Cartesian-based representation, or Single Bin, achieves the highest accuracy, with additional channeled inputs (positional encoding and depth map) not boosting prediction performance. Our code is published on GitHub: https://github.com/umd-fire-coml/KITTI-orientation-learning