  Realizing unified monocular 3D object detection, including both indoor and
outdoor scenes, holds great importance in applications like robot navigation.
However, involving various scenarios of data to train models poses challenges
due to their significantly different characteristics, e.g., diverse geometry
properties and heterogeneous domain distributions. To address these challenges,
we build a detector based on the bird's-eye-view (BEV) detection paradigm,
where the explicit feature projection is beneficial to addressing the geometry
learning ambiguity when employing multiple scenarios of data to train
detectors. Then, we split the classical BEV detection architecture into two
stages and propose an uneven BEV grid design to handle the convergence
instability caused by the aforementioned challenges. Moreover, we develop a
sparse BEV feature projection strategy to reduce computational cost and a
unified domain alignment method to handle heterogeneous domains. Combining
these techniques, a unified detector UniMODE is derived, which surpasses the
previous state-of-the-art on the challenging Omni3D dataset (a large-scale
dataset including both indoor and outdoor scenes) by 4.9% AP_3D, revealing the
first successful generalization of a BEV detector to unified 3D object
detection.
