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Depth estimation is a traditional computer vision task, which plays a crucial role in understanding 3D scene geometry. Recently, deep-convolutional-neural-networks based methods have achieved promising results in the monocular depth…
Monocular 3D object detection is an important yet challenging task in autonomous driving. Some existing methods leverage depth information from an off-the-shelf depth estimator to assist 3D detection, but suffer from the additional…
Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…
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 very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…
Unsupervised anomaly detection encompasses diverse applications in industrial settings where a high-throughput and precision is imperative. Early works were centered around one-class-one-model paradigm, which poses significant challenges in…
Monocular 3D object detection is a promising yet ill-posed task for autonomous vehicles due to the lack of accurate depth information. Cross-modality knowledge distillation could effectively transfer depth information from LiDAR to…
Monocular 3D object detection aims to locate objects in different scenes with just a single image. Due to the absence of depth information, several monocular 3D detection techniques have emerged that rely on auxiliary depth maps from the…
Leveraging LiDAR-based detectors or real LiDAR point data to guide monocular 3D detection has brought significant improvement, e.g., Pseudo-LiDAR methods. However, the existing methods usually apply non-end-to-end training strategies and…
Due to the lack of depth information of images and poor detection accuracy in monocular 3D object detection, we proposed the instance depth for multi-scale monocular 3D object detection method. Firstly, to enhance the model's processing…
The detection of 3D objects through a single perspective camera is a challenging issue. The anchor-free and keypoint-based models receive increasing attention recently due to their effectiveness and simplicity. However, most of these…
Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However,…
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…
Knowledge distillation (KD) has witnessed its powerful capability in learning compact models in object detection. Previous KD methods for object detection mostly focus on imitating deep features within the imitation regions instead of…
Monocular 3D object detection poses a significant challenge due to the lack of depth information in RGB images. Many existing methods strive to enhance the object depth estimation performance by allocating additional parameters for object…
Recently, Bird's-Eye-View (BEV) representation has gained increasing attention in multi-view 3D object detection, which has demonstrated promising applications in autonomous driving. Although multi-view camera systems can be deployed at low…
In recent years, knowledge distillation (KD) has been widely used to derive efficient models. Through imitating a large teacher model, a lightweight student model can achieve comparable performance with more efficiency. However, most…
Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…
Recent advances in 3D object detection (3DOD) have obtained remarkably strong results for LiDAR-based models. In contrast, surround-view 3DOD models based on multiple camera images underperform due to the necessary view transformation of…
Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…