Related papers: Monocular Multi-Layer Layout Estimation for Wareho…

We present a novel method to reconstruct the 3D layout of a room (walls, floors, ceilings) from a single perspective view in challenging conditions, by contrast with previous single-view methods restricted to cuboid-shaped layouts. This…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

Room layout estimation predicts layouts from a single panorama. It requires datasets with large-scale and diverse room shapes to train the models. However, there are significant imbalances in real-world datasets including the dimensions of…

This paper focuses on the task of room layout estimation from a monocular RGB image. Prior works break the problem into two sub-tasks: semantic segmentation of floor, walls, ceiling to produce layout hypotheses, followed by an iterative…

Accurate 3D lane detection from monocular images presents significant challenges due to depth ambiguity and imperfect ground modeling. Previous attempts to model the ground have often used a planar ground assumption with limited degrees of…

This work proposes a new, online algorithm for estimating the local scale correction to apply to the output of a monocular SLAM system and obtain an as faithful as possible metric reconstruction of the 3D map and of the camera trajectory.…

This paper proposes a new approach, Flat2Layout, for estimating general indoor room layout from a single-view RGB image whereas existing methods can only produce layout topologies captured from the box-shaped room. The proposed flat…

A major element of depth perception and 3D understanding is the ability to predict the 3D layout of a scene and its contained objects for a novel pose. Indoor environments are particularly suitable for novel view prediction, since the set…

Deep convolutional neural networks have demonstrated high performances for fixation prediction in recent years. How they achieve this, however, is less explored and they remain to be black box models. Here, we attempt to shed light on the…

Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…

Vision-Language-Action (VLA) models enable instruction-following robotic manipulation, but they are typically pretrained on 2D data and lack 3D spatial understanding. An effective approach is representation alignment, where a strong vision…

Monocular 3D object parsing is highly desirable in various scenarios including occlusion reasoning and holistic scene interpretation. We present a deep convolutional neural network (CNN) architecture to localize semantic parts in 2D image…

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…

A single color image can contain many cues informative towards different aspects of local geometric structure. We approach the problem of monocular depth estimation by using a neural network to produce a mid-level representation that…

The task of room layout estimation is to locate the wall-floor, wall-ceiling, and wall-wall boundaries. Most recent methods solve this problem based on edge/keypoint detection or semantic segmentation. However, these approaches have shown…

Efficiently finding an occluded object with lateral access arises in many contexts such as warehouses, retail, healthcare, shipping, and homes. We introduce LAX-RAY (Lateral Access maXimal Reduction of occupancY support Area), a system to…

Monocular 3D lane detection is challenged by aleatoric uncertainty arising from inherent observation noise. Existing methods rely on simplified geometric assumptions, such as independent point predictions or global planar modeling, failing…

This paper aims at understanding the role of multi-scale information in the estimation of depth from monocular images. More precisely, the paper investigates four different deep CNN architectures, designed to explicitly make use of…