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In this paper, we propose the first self-distillation framework for general object detection, termed LGD (Label-Guided self-Distillation). Previous studies rely on a strong pretrained teacher to provide instructive knowledge that could be…
We present DistillFlow, a knowledge distillation approach to learning optical flow. DistillFlow trains multiple teacher models and a student model, where challenging transformations are applied to the input of the student model to generate…
In the surveillance and defense domain, multi-target detection and classification (MTD) is considered essential yet challenging due to heterogeneous inputs from diverse data sources and the computational complexity of algorithms designed…
Monocular depth estimation (MDE) has attracted intense study due to its low cost and critical functions for robotic tasks such as localization, mapping and obstacle detection. Supervised approaches have led to great success with the advance…
Knowledge distillation based on student-teacher network is one of the mainstream solution paradigms for the challenging unsupervised Anomaly Detection task, utilizing the difference in representation capabilities of the teacher and student…
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…
Vision foundation models (VFMs) such as DINO have led to a paradigm shift in 2D camera-based perception towards extracting generalized features to support many downstream tasks. Recent works introduce self-supervised cross-modal knowledge…
Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…
This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…
Knowledge distillation(KD) aims to improve the performance of a student network by mimicing the knowledge from a powerful teacher network. Existing methods focus on studying what knowledge should be transferred and treat all samples equally…
Online Knowledge Distillation (OKD) methods streamline the distillation training process into a single stage, eliminating the need for knowledge transfer from a pretrained teacher network to a more compact student network. This paper…
A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…
In Knowledge Distillation, the teacher is generally much larger than the student, making the solution of the teacher likely to be difficult for the student to learn. To ease the mimicking difficulty, we introduce a triplet knowledge…
Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…
Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…
RGB-D tracking significantly improves the accuracy of object tracking. However, its dependency on real depth inputs and the complexity involved in multi-modal fusion limit its applicability across various scenarios. The utilization of depth…
Knowledge distillation (KD) is an effective method for compressing models in object detection tasks. Due to limited computational capability, UAV-based object detection (UAV-OD) widely adopt the KD technique to obtain lightweight detectors.…
Compared to typical multi-sensor systems, monocular 3D object detection has attracted much attention due to its simple configuration. However, there is still a significant gap between LiDAR-based and monocular-based methods. In this paper,…
Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…
Knowledge distillation has shown great success in classification, however, it is still challenging for detection. In a typical image for detection, representations from different locations may have different contributions to detection…