Related papers: AdvMono3D: Advanced Monocular 3D Object Detection …
Most autonomous vehicles (AVs) rely on LiDAR and RGB camera sensors for perception. Using these point cloud and image data, perception models based on deep neural nets (DNNs) have achieved state-of-the-art performance in 3D detection. The…
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…
Autonomous vehicles are typical complex intelligent systems with artificial intelligence at their core. However, perception methods based on deep learning are extremely vulnerable to adversarial samples, resulting in security accidents. How…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
Drones equipped with cameras can significantly enhance human ability to perceive the world because of their remarkable maneuverability in 3D space. Ironically, object detection for drones has always been conducted in the 2D image space,…
Recent progress in 3D object detection from single images leverages monocular depth estimation as a way to produce 3D pointclouds, turning cameras into pseudo-lidar sensors. These two-stage detectors improve with the accuracy of the…
3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…
Deep learning models achieve remarkable accuracy in computer vision tasks, yet remain vulnerable to adversarial examples--carefully crafted perturbations to input images that can deceive these models into making confident but incorrect…
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…
We experimentally study the robustness of deep camera-LiDAR fusion architectures for 2D object detection in autonomous driving. First, we find that the fusion model is usually both more accurate, and more robust against single-source…
The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…
The robustness of deep neural networks (DNN) models has attracted increasing attention due to the urgent need for security in many applications. Numerous existing open-sourced tools or platforms are developed to evaluate the robustness of…
Advances in deep learning have resulted in steady progress in computer vision with improved accuracy on tasks such as object detection and semantic segmentation. Nevertheless, deep neural networks are vulnerable to adversarial attacks, thus…
Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…
While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from…
Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…
Adversarial training is one of the most effective methods for enhancing model robustness. Recent approaches incorporate adversarial distillation in adversarial training architectures. However, we notice two scenarios of defense methods that…
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…
Monocular depth estimation is an extensively studied computer vision problem with a vast variety of applications. Deep learning-based methods have demonstrated promise for both supervised and unsupervised depth estimation from monocular…
Monocular Depth Estimation (MDE) plays a vital role in applications such as autonomous driving. However, various attacks target MDE models, with physical attacks posing significant threats to system security. Traditional adversarial…