Related papers: AutoShape: Real-Time Shape-Aware Monocular 3D Obje…
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,…
Monocular 3D object detection aims for precise 3D localization and identification of objects from a single-view image. Despite its recent progress, it often struggles while handling pervasive object occlusions that tend to complicate and…
The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…
We propose a novel deep reinforcement learning-based approach for 3D object reconstruction from monocular images. Prior works that use mesh representations are template based. Thus, they are limited to the reconstruction of objects that…
We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…
3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…
In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…
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…
Single-view 3D shape retrieval is a challenging task that is increasingly important with the growth of available 3D data. Prior work that has studied this task has not focused on evaluating how realistic occlusions impact performance, and…
Early accident anticipation from dashcam videos is a highly desirable yet challenging task for improving the safety of intelligent vehicles. Existing advanced accident anticipation approaches commonly model the interaction among traffic…
Considerable progress has been made in semantic scene understanding of road scenes with monocular cameras. It is, however, mainly related to certain classes such as cars and pedestrians. This work investigates traffic cones, an object class…
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…
Training neural networks to perform 3D object detection for autonomous driving requires a large amount of diverse annotated data. However, obtaining training data with sufficient quality and quantity is expensive and sometimes impossible…
Monocular 3D object detection has attracted widespread attention due to its potential to accurately obtain object 3D localization from a single image at a low cost. Depth estimation is an essential but challenging subtask of monocular 3D…
Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…
Since the introduction of the self-attention mechanism and the adoption of the Transformer architecture for Computer Vision tasks, the Vision Transformer-based architectures gained a lot of popularity in the field, being used for tasks such…
Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…
We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…
Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…
For autonomous vehicles, driving safely is highly dependent on the capability to correctly perceive the environment in 3D space, hence the task of 3D object detection represents a fundamental aspect of perception. While 3D sensors deliver…