Related papers: GUPNet++: Geometry Uncertainty Propagation Network…

Geometry Projection is a powerful depth estimation method in monocular 3D object detection. It estimates depth dependent on heights, which introduces mathematical priors into the deep model. But projection process also introduces the error…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a monocular image due to the geometric information loss during imagery projection. We propose…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…

In this paper, we propose a geometric neural network with edge-aware refinement (GeoNet++) to jointly predict both depth and surface normal maps from a single image. Building on top of two-stream CNNs, GeoNet++ captures the geometric…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Object localization in 3D space is a challenging aspect in monocular 3D object detection. Recent advances in 6DoF pose estimation have shown that predicting dense 2D-3D correspondence maps between image and object 3D model and then…

This paper investigates the geometric consistency for monocular 3D object detection, which suffers from the ill-posed depth estimation. We first conduct a thorough analysis to reveal how existing methods fail to consistently localize…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

The ground plane prior is a very informative geometry clue in monocular 3D object detection (M3OD). However, it has been neglected by most mainstream methods. In this paper, we identify two key factors that limit the applicability of ground…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

Perspective projection has been extensively utilized in monocular 3D object detection methods. It introduces geometric priors from 2D bounding boxes and 3D object dimensions to reduce the uncertainty of depth estimation. However, due to…

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a single RGB image due to the geometric information loss during imagery projection. We propose…

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…

In this work, we propose a novel uncertainty-aware object detection framework with a structured-graph, where nodes and edges are denoted by objects and their spatial-semantic similarities, respectively. Specifically, we aim to consider…

Monocular multi-object detection and localization in 3D space has been proven to be a challenging task. The MoNet3D algorithm is a novel and effective framework that can predict the 3D position of each object in a monocular image and draw a…

Accurate surround-view depth estimation provides a competitive alternative to laser-based sensors and is essential for 3D scene understanding in autonomous driving. While empirical studies have proposed various approaches that primarily…

Estimating depth from a monocular image is an ill-posed problem: when the camera projects a 3D scene onto a 2D plane, depth information is inherently and permanently lost. Nevertheless, recent work has shown impressive results in estimating…

Multi-view depth estimation methods typically require the computation of a multi-view cost-volume, which leads to huge memory consumption and slow inference. Furthermore, multi-view matching can fail for texture-less surfaces, reflective…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…