Monocular pipelines are convenient and cost-effective solutions for object distance
estimation in 3D vision. Current methods for monocular object distance estimation either
perform inaccurately or require heavy work on data collection. In this paper, we propose a
network with R-CNN based structure to implement object detection and distance estimation
simultaneously. We append an efficient branch to integrate the information of camera
extrinsic parameters with RGB data in our network. Further, optimized multi-scale feature is …