Cai, Yingjie, Buyu Li, Zeyu Jiao, Hongsheng Li, Xingyu Zeng, and Xiaogang Wang. “Monocular 3D Object Detection With Decoupled Structured Polygon Estimation and Height-Guided Depth Estimation”. Proceedings of the AAAI Conference on Artificial Intelligence 34, no. 07 (April 3, 2020): 10478-10485. Accessed September 26, 2021. https://ojs.aaai.org/index.php/AAAI/article/view/6618.