Related papers: RefinedMPL: Refined Monocular PseudoLiDAR for 3D O…

Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…

Recent self-training techniques have shown notable improvements in unsupervised domain adaptation for 3D object detection (3D UDA). These techniques typically select pseudo labels, i.e., 3D boxes, to supervise models for the target domain.…

Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…

Monocular 3D object detection has attracted widespread attention due to its potential to accurately obtain object 3D localization from a single image at a low cost. Depth estimation is an essential but challenging subtask of monocular 3D…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…

Monocular 3D object detection aims to predict the object location, dimension and orientation in 3D space alongside the object category given only a monocular image. It poses a great challenge due to its ill-posed property which is…

While DETR-like architectures have demonstrated significant potential for monocular 3D object detection, they are often hindered by a critical limitation: the exclusion of 3D attributes from the bipartite matching process. This exclusion…

Weakly supervised 3D object detection aims to learn a 3D detector with lower annotation cost, e.g., 2D labels. Unlike prior work which still relies on few accurate 3D annotations, we propose a framework to study how to leverage constraints…

Monocular 3D object detection is an important task for autonomous driving considering its advantage of low cost. It is much more challenging than conventional 2D cases due to its inherent ill-posed property, which is mainly reflected in the…

Localizing objects in 3D space and understanding their associated 3D properties is challenging given only monocular RGB images. The situation is compounded by the loss of depth information during perspective projection. We present Center3D,…

Data augmentation is a key component of CNN based image recognition tasks like object detection. However, it is relatively less explored for 3D object detection. Many standard 2D object detection data augmentation techniques do not extend…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

The recently proposed pseudo-LiDAR based 3D detectors greatly improve the benchmark of monocular/stereo 3D detection task. However, the underlying mechanism remains obscure to the research community. In this paper, we perform an in-depth…

Inspired by recent advances in vision transformers for object detection, we propose Li3DeTr, an end-to-end LiDAR based 3D Detection Transformer for autonomous driving, that inputs LiDAR point clouds and regresses 3D bounding boxes. The…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

Deploying 3D detectors in unfamiliar domains has been demonstrated to result in a significant 70-90% drop in detection rate due to variations in lidar, geography, or weather from their training dataset. This domain gap leads to missing…