Related papers: MVM3Det: A Novel Method for Multi-view Monocular 3…
Monocular 3D object detection is a cost-effective solution for applications like autonomous driving and robotics, but remains fundamentally ill-posed due to inherently ambiguous depth cues. Recent DETR-based methods attempt to mitigate this…
Multi-view 3D object detection is becoming popular in autonomous driving due to its high effectiveness and low cost. Most of the current state-of-the-art detectors follow the query-based bird's-eye-view (BEV) paradigm, which benefits from…
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…
Multi-view 3D object detection (MV3D-Det) in Bird-Eye-View (BEV) has drawn extensive attention due to its low cost and high efficiency. Although new algorithms for camera-only 3D object detection have been continuously proposed, most of…
Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…
Monocular 3D object detection is an essential task in autonomous driving. However, most current methods consider each 3D object in the scene as an independent training sample, while ignoring their inherent geometric relations, thus…
Reliable perception of the environment plays a crucial role in enabling efficient self-driving vehicles. Therefore, the perception system necessitates the acquisition of comprehensive 3D data regarding the surrounding objects within a…
Monocular 3D object detection aims to localize 3D bounding boxes in an input single 2D image. It is a highly challenging problem and remains open, especially when no extra information (e.g., depth, lidar and/or multi-frames) can be…
Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…
In this paper, we study the problem of 3D object detection from stereo images, in which the key challenge is how to effectively utilize stereo information. Different from previous methods using pixel-level depth maps, we propose employing…
Inspired by the great success achieved by CNN in image recognition, view-based methods applied CNNs to model the projected views for 3D object understanding and achieved excellent performance. Nevertheless, multi-view CNN models cannot…
Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a single RGB image due to the geometric information loss during imagery projection. We propose…
Multiview detection incorporates multiple camera views to deal with occlusions, and its central problem is multiview aggregation. Given feature map projections from multiple views onto a common ground plane, the state-of-the-art method…
Precisely localizing 3D objects from a single image constitutes a central challenge in monocular 3D detection. While DETR-like architectures offer a powerful paradigm, their direct application in this domain encounters inherent limitations,…
We present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image object detection, we…
Current multi-modal object detection approaches focus on the vehicle domain and are limited in the perception range and the processing capabilities. Roadside sensor units (RSUs) introduce a new domain for perception systems and leverage…
3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…
Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…
The recent advance in multi-camera 3D object detection is featured by bird's-eye view (BEV) representation or object queries. However, the ill-posed transformation from image-plane view to 3D space inevitably causes feature clutter and…
3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a dense detection head for object detection, or employ object…