The modified Monoflex has different kinds of losses which are plotted in the Appendix. Additionally MAEs are plotted for every depth estimate and compared.

1. Total Loss: Total loss consists of all losses including IoU loss for the predicted box, depth loss from direct depth regressor, depth loss from key points, weighted average depth loss, L1 corner loss.

2. Depth Loss: Loss calculated for the direct depth regressor.

3. Key-point Depth Loss: Loss calculated from the depth estimates calculated by 8 key-points.

4. Key-point Depth Loss: Additional: Loss calculated from the depth estimates calculated by additional key-points.

5. Weighted Average Depth Loss: Weighted average depth loss calculated based on uncertainties in estimates of each kind of loss.

6. Depth Estimate MAEs: MAE values for the respective depth estimates.

7. Key-point MAE: MAE values for the key-points.

Regress for 8 key-points

Figure 14 : Training graphs for 8 keypoints

Regress for 22 key-points

Figure 15: Training graphs for 22 keypoints

Regress for 89 key-points

Figure 16 : Training graphs for 89 keypoints