Related papers: CubifAE-3D: Monocular Camera Space Cubification fo…
We present an efficient 3D object detection framework based on a single RGB image in the scenario of autonomous driving. Our efforts are put on extracting the underlying 3D information in a 2D image and determining the accurate 3D bounding…
Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…
3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…
UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…
We consider indoor 3D object detection with respect to a single RGB(-D) frame acquired from a commodity handheld device. We seek to significantly advance the status quo with respect to both data and modeling. First, we establish that…
Monocular 3D object detection task aims to predict the 3D bounding boxes of objects based on monocular RGB images. Since the location recovery in 3D space is quite difficult on account of absence of depth information, this paper proposes a…
Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…
Autonomous driving perception tasks rely heavily on cameras as the primary sensor for Object Detection, Semantic Segmentation, Instance Segmentation, and Object Tracking. However, RGB images captured by cameras lack depth information, which…
Realizing unified 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…
While expensive LiDAR and stereo camera rigs have enabled the development of successful 3D object detection methods, monocular RGB-only approaches lag much behind. This work advances the state of the art by introducing MoVi-3D, a novel,…
The detection of 3D objects through a single perspective camera is a challenging issue. The anchor-free and keypoint-based models receive increasing attention recently due to their effectiveness and simplicity. However, most of these…
Monocular multi-object detection and localization in 3D space has been proven to be a challenging task. The MoNet3D algorithm is a novel and effective framework that can predict the 3D position of each object in a monocular image and draw a…
Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…
Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…
In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…
We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving. In our framework, the monocular camera serves as the fundamental sensor for 2D object proposal and initial 3D bounding box…
Although considerable advancements have been attained in self-supervised depth estimation from monocular videos, most existing methods often treat all objects in a video as static entities, which however violates the dynamic nature of…
This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…
Image change detection (ICD) to detect changed objects in front of a vehicle with respect to a place-specific background model using an on-board monocular vision system is a fundamental problem in intelligent vehicle (IV). From the…
Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…