Related papers: GrooMeD-NMS: Grouped Mathematically Differentiable…

Deep learning-based detectors usually produce a redundant set of object bounding boxes including many duplicate detections of the same object. These boxes are then filtered using non-maximum suppression (NMS) in order to select exactly one…

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…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

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…

While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from…

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…

The Mean-Teacher (MT) scheme is widely adopted in semi-supervised object detection (SSOD). In MT, the sparse pseudo labels, offered by the final predictions of the teacher (e.g., after Non Maximum Suppression (NMS) post-processing), are…

We introduce a novel task of 3D visual grounding in monocular RGB images using language descriptions with both appearance and geometry information. Specifically, we build a large-scale dataset, Mono3DRefer, which contains 3D object targets…

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…

The field of indoor monocular 3D object detection is gaining significant attention, fueled by the increasing demand in VR/AR and robotic applications. However, its advancement is impeded by the limited availability and diversity of 3D…

In this paper, we introduce 3D-GMNet, a deep neural network for 3D object shape reconstruction from a single image. As the name suggests, 3D-GMNet recovers 3D shape as a Gaussian mixture. In contrast to voxels, point clouds, or meshes, a…

In this work, we propose a novel single-shot and keypoints-based framework for monocular 3D objects detection using only RGB images, called KM3D-Net. We design a fully convolutional model to predict object keypoints, dimension, and…

3D object recognition accuracy can be improved by learning the multi-scale spatial features from 3D spatial geometric representations of objects such as point clouds, 3D models, surfaces, and RGB-D data. Current deep learning approaches…

Monocular 3D detection (M3D) aims for precise 3D object localization from a single-view image which usually involves labor-intensive annotation of 3D detection boxes. Weakly supervised M3D has recently been studied to obviate the 3D…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Most state of the art object detectors output multiple detections per object. The duplicates are removed in a post-processing step called Non-Maximum Suppression. Classical Non-Maximum Suppression has shortcomings in scenes that contain…

We present a method for training CNN-based object class detectors directly using mean average precision (mAP) as the training loss, in a truly end-to-end fashion that includes non-maximum suppression (NMS) at training time. This contrasts…

Object detection has been extensively utilized in autonomous systems in recent years, encompassing both 2D and 3D object detection. Recent research in this field has primarily centered around multimodal approaches for addressing this…

3D object detection serves as the core basis of the perception tasks in autonomous driving. Recent years have seen the rapid progress of multi-modal fusion strategies for more robust and accurate 3D object detection. However, current…

Deep learning-based object detection and instance segmentation have achieved unprecedented progress. In this paper, we propose Complete-IoU (CIoU) loss and Cluster-NMS for enhancing geometric factors in both bounding box regression and…