Related papers: Object Viewpoint Classification Based 3D Bounding …

Considerable progress has been made in semantic scene understanding of road scenes with monocular cameras. It is, however, mainly related to certain classes such as cars and pedestrians. This work investigates traffic cones, an object class…

Traffic volume data collection is a crucial aspect of transportation engineering and urban planning, as it provides vital insights into traffic patterns, congestion, and infrastructure efficiency. Traditional manual methods of traffic data…

Accurate 7DoF prediction of vehicles at an intersection is an important task for assessing potential conflicts between road users. In principle, this could be achieved by a single camera system that is capable of detecting the pose of each…

We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

Unsupervised and open-vocabulary 3D object detection has recently gained attention, particularly in autonomous driving, where reducing annotation costs and recognizing unseen objects are critical for both safety and scalability. However,…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

The objective of augmented reality (AR) is to add digital content to natural images and videos to create an interactive experience between the user and the environment. Scene analysis and object recognition play a crucial role in AR, as…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

Roadside monocular 3D detection requires detecting objects of predefined classes in an RGB frame and predicting their 3D attributes, such as bird's-eye-view (BEV) locations. It has broad applications in traffic control, vehicle-vehicle…

We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Accurate and fast 3D object detection from point clouds is a key task in autonomous driving. Existing one-stage 3D object detection methods can achieve real-time performance, however, they are dominated by anchor-based detectors which are…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

Recent work has shown good recognition results in 3D object recognition using 3D convolutional networks. In this paper, we show that the object orientation plays an important role in 3D recognition. More specifically, we argue that objects…

In the field of state-of-the-art object detection, the task of object localization is typically accomplished through a dedicated subnet that emphasizes bounding box regression. This subnet traditionally predicts the object's position by…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

In this paper, we propose a Monocular 3D Single Stage object Detector (M3DSSD) with feature alignment and asymmetric non-local attention. Current anchor-based monocular 3D object detection methods suffer from feature mismatching. To…

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a monocular image due to the geometric information loss during imagery projection. We propose…