Related papers: Anyview: Generalizable Indoor 3D Object Detection …

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…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…

Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

Existing point cloud based 3D detectors are designed for the particular scene, either indoor or outdoor ones. Because of the substantial differences in object distribution and point density within point clouds collected from various…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

The rapid development of generative models has made it increasingly crucial to develop detectors that can reliably detect synthetic images. Although most of the work has now focused on cross-generator generalization, we argue that this…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

3D object detection with surrounding cameras has been a promising direction for autonomous driving. In this paper, we present SimMOD, a Simple baseline for Multi-camera Object Detection, to solve the problem. To incorporate multi-view…

In this work, we study 3D object detection from RGB-D data in both indoor and outdoor scenes. While previous methods focus on images or 3D voxels, often obscuring natural 3D patterns and invariances of 3D data, we directly operate on raw…

Inferring 3D structure of a generic object from a 2D image is a long-standing objective of computer vision. Conventional approaches either learn completely from CAD-generated synthetic data, which have difficulty in inference from real…

Compared with still image object detection, video object detection (VOD) needs to particularly concern the high across-frame variation in object appearance, and the diverse deterioration in some frames. In principle, the detection in a…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…