Related papers: S$^3$-MonoDETR: Supervised Shape&Scale-perceptive …
Monocular 3D object detection encounters occlusion problems in many application scenarios, such as traffic monitoring, pedestrian monitoring, etc., which leads to serious false negative. Multi-view object detection effectively solves this…
The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…
Monocular 3D object detection has vast application potential across various fields. DETR-type models have shown remarkable performance in different areas, but there is still considerable room for improvement in monocular 3D detection,…
3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…
Inferring geometrically consistent dense 3D scenes across a tuple of temporally consecutive images remains challenging for self-supervised monocular depth prediction pipelines. This paper explores how the increasingly popular transformer…
We present MonoPSR, a monocular 3D object detection method that leverages proposals and shape reconstruction. First, using the fundamental relations of a pinhole camera model, detections from a mature 2D object detector are used to generate…
Monocular scene reconstruction from posed images is challenging due to the complexity of a large environment. Recent volumetric methods learn to directly predict the TSDF volume and have demonstrated promising results in this task. However,…
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…
Monocular 3D object detectors, while effective on data from one ego camera height, struggle with unseen or out-of-distribution camera heights. Existing methods often rely on Plucker embeddings, image transformations or data augmentation.…
Transformers have shown promising progress in various visual object detection tasks, including monocular 2D/3D detection and surround-view 3D detection. More importantly, the attention mechanism in the Transformer model and the 3D…
Monocular 3D object detection reveals an economical but challenging task in autonomous driving. Recently center-based monocular methods have developed rapidly with a great trade-off between speed and accuracy, where they usually depend on…
One of the key problems in 3D object detection is to reduce the accuracy gap between methods based on LiDAR sensors and those based on monocular cameras. A recently proposed framework for monocular 3D detection based on Pseudo-Stereo has…
Monocular 3D object detection is a low-cost but challenging task, as it requires generating accurate 3D localization solely from a single image input. Recent developed depth-assisted methods show promising results by using explicit depth…
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…
This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…
We present Depth Anything 3 (DA3), a model that predicts spatially consistent geometry from an arbitrary number of visual inputs, with or without known camera poses. In pursuit of minimal modeling, DA3 yields two key insights: a single…
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,…
To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth,…
Monocular 3D object detection is an important task for autonomous driving considering its advantage of low cost. It is much more challenging than conventional 2D cases due to its inherent ill-posed property, which is mainly reflected in the…
Monocular 3D object detection plays a pivotal role in the field of autonomous driving and numerous deep learning-based methods have made significant breakthroughs in this area. Despite the advancements in detection accuracy and efficiency,…