Related papers: M3DSSD: Monocular 3D Single Stage Object Detector
Point clouds and images could provide complementary information when representing 3D objects. Fusing the two kinds of data usually helps to improve the detection results. However, it is challenging to fuse the two data modalities, due to…
Monocular scene reconstruction from posed images is challenging due to the complexity of a large environment. Recent volumetric methods learn to directly predict the TSDF volume and have demonstrated promising results in this task. However,…
Recent advancements in transformer-based monocular 3D object detection techniques have exhibited exceptional performance in inferring 3D attributes from single 2D images. However, most existing methods rely on resource-intensive transformer…
Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied…
Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…
Research on monocular 3D object detection is being actively studied, and as a result, performance has been steadily improving. However, 3D object detection performance is significantly reduced when applied to a camera system different from…
Current Point-based detectors can only learn from the provided points, with limited receptive fields and insufficient global learning capabilities for such targets. In this paper, we present a novel Point Dilation Mechanism for single-stage…
Most existing salient object detection methods mostly use U-Net or feature pyramid structure, which simply aggregates feature maps of different scales, ignoring the uniqueness and interdependence of them and their respective contributions…
Utilizing a single camera for measuring object distances is a cost-effective alternative to stereo-vision and LiDAR. Although monocular distance estimation has been explored in the literature, most existing techniques rely on object class…
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…
3D object detection from a single image is an important task in Autonomous Driving (AD), where various approaches have been proposed. However, the task is intrinsically ambiguous and challenging as single image depth estimation is already…
The training of deep-learning-based 3D object detectors requires large datasets with 3D bounding box labels for supervision that have to be generated by hand-labeling. We propose a network architecture and training procedure for learning…
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…
Current multi-view 3D object detection methods often fail to detect objects in the overlap region properly, and the networks' understanding of the scene is often limited to that of a monocular detection network. Moreover, objects in the…
Due to the inherent ill-posed nature of 2D-3D projection, monocular 3D object detection lacks accurate depth recovery ability. Although the deep neural network (DNN) enables monocular depth-sensing from high-level learned features, the…
Depth-aware video panoptic segmentation tackles the inverse projection problem of restoring panoptic 3D point clouds from video sequences, where the 3D points are augmented with semantic classes and temporally consistent instance…
In this technical report, we present our solution, dubbed MV-FCOS3D++, for the Camera-Only 3D Detection track in Waymo Open Dataset Challenge 2022. For multi-view camera-only 3D detection, methods based on bird-eye-view or 3D geometric…
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…
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…
Monocular 3D object detection (Mono 3Det) aims to identify 3D objects from a single RGB image. However, existing methods often assume training and test data follow the same distribution, which may not hold in real-world test scenarios. To…