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Depth estimation has been widely studied and serves as the fundamental step of 3D perception for robotics and autonomous driving. Though significant progress has been made in monocular depth estimation in the past decades, these attempts…
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…
Table detection within document images is a crucial task in document processing, involving the identification and localization of tables. Recent strides in deep learning have substantially improved the accuracy of this task, but it still…
This paper presents a novel masked attention-based 3D Gaussian Splatting (3DGS) approach to enhance robotic perception and object detection in industrial and smart factory environments. U2-Net is employed for background removal to isolate…
It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…
Monocular 3D object detection is an essential task in computer vision, and it has several applications in robotics and virtual reality. However, 3D object detectors are typically trained in a fully supervised way, relying extensively on 3D…
Transformer has demonstrated promising performance in many 2D vision tasks. However, it is cumbersome to compute the self-attention on large-scale point cloud data because point cloud is a long sequence and unevenly distributed in 3D space.…
The Transformer translation model is based on the multi-head attention mechanism, which can be parallelized easily. The multi-head attention network performs the scaled dot-product attention function in parallel, empowering the model by…
3D object detection plays a crucial role in numerous intelligent vision systems. Detection in the open world inevitably encounters various adverse scenes, such as dense fog, heavy rain, and low light conditions. Although existing efforts…
With an unprecedented increase in the number of agents and systems that aim to navigate the real world using visual cues and the rising impetus for 3D Vision Models, the importance of depth estimation is hard to understate. While supervised…
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…
The Transformer architecture has significantly advanced deep learning, particularly in natural language processing, by effectively managing long-range dependencies. However, as the demand for understanding complex relationships grows,…
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,…
Change detection plays a fundamental role in Earth observation for analyzing temporal iterations over time. However, recent studies have largely neglected the utilization of multimodal data that presents significant practical and technical…
Monocular 3D detection relies on just a single camera and is therefore easy to deploy. Yet, achieving reliable 3D understanding from monocular images requires substantial annotation, and 3D labels are especially costly. To maximize…
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…
We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object…
Monocular depth estimation plays a critical role in various computer vision and robotics applications such as localization, mapping, and 3D object detection. Recently, learning-based algorithms achieve huge success in depth estimation by…
SSF3D modified the semi-supervised 3D object detection (SS3DOD) framework, which designed specifically for point cloud data. Leveraging the characteristics of non-coincidence and weak correlation of target objects in point cloud, we adopt a…
Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…