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In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Monocular 3D object detection plays a pivotal role in the field of autonomous driving and numerous deep learning-based methods have made significant breakthroughs in this area. Despite the advancements in detection accuracy and efficiency,…

Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors from accurately distinguishing glass surfaces. The lack of…

Monocular 3D object detection is an inherently ill-posed problem, as it is challenging to predict accurate 3D localization from a single image. Existing monocular 3D detection knowledge distillation methods usually project the LiDAR onto…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

3D mask presentation attack detection is crucial for protecting face recognition systems against the rising threat of 3D mask attacks. While most existing methods utilize multimodal features or remote photoplethysmography (rPPG) signals to…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

In this paper, we propose to learn a deep fitting degree scoring network for monocular 3D object detection, which aims to score fitting degree between proposals and object conclusively. Different from most existing monocular frameworks…

Monocular 3D object detection is of great significance for autonomous driving but remains challenging. The core challenge is to predict the distance of objects in the absence of explicit depth information. Unlike regressing the distance as…

We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we…

Monocular 3D object detection has attracted great attention for its advantages in simplicity and cost. Due to the ill-posed 2D to 3D mapping essence from the monocular imaging process, monocular 3D object detection suffers from inaccurate…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Real-time, high-fidelity monocular depth estimation from remote sensing imagery is crucial for numerous applications, yet existing methods face a stark trade-off between accuracy and efficiency. Although using Vision Transformer (ViT)…

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…

Deep metric learning aims to learn features relying on the consistency or divergence of class labels. However, in monocular depth estimation, the absence of a natural definition of class poses challenges in the leveraging of deep metric…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…

We propose and study open-vocabulary monocular 3D detection, a novel task that aims to detect objects of any categores in metric 3D space from a single RGB image. Existing 3D object detectors either rely on costly sensors such as LiDAR or…

We present a method to estimate depth of a dynamic scene, containing arbitrary moving objects, from an ordinary video captured with a moving camera. We seek a geometrically and temporally consistent solution to this underconstrained…