# IROAM: Improving Roadside Monocular 3D Object Detection Learning from Autonomous Vehicle Data Domain Source: [IROAM: Improving Roadside Monocular 3D Object Detection Learning from Autonomous Vehicle Data Domain]() Collection index: [llms.txt]() Data updated: 2025-10-26T04:02:16.872Z Authors: Zhe Wang, Xiaoliang Huo, Siqi Fan, Jingjing Liu, Ya-Qin Zhang, Yan Wang Published: 2025-01-30T06:10:23.000Z ## Abstract In autonomous driving, The perception capabilities of the ego-vehicle can be improved with roadside sensors, which can provide a holistic view of the environment. However, existing monocular detection methods designed for vehicle cameras are not suitable for roadside cameras due to viewpoint domain gaps. To bridge this gap and Improve ROAdside Monocular 3D object detection, we propose IROAM, a semantic-geometry decoupled contrastive learning framework, which takes vehicle-side and roadside data as input simultaneously. IROAM has two significant modules. In-Domain Query Interaction module utilizes a transformer to learn content and depth information for each domain and outputs object queries. Cross-Domain Query Enhancement To learn better feature representations from two domains, Cross-Domain Query Enhancement decouples queries into semantic and geometry parts and only the former is used for contrastive learning. Experiments demonstrate the effectiveness of IROAM in improving roadside detector's performance. The results validate that IROAM has the capabilities to learn cross-domain information. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. ## Original sources and implementation [Original paper]() [PDF]()