Related papers: MonoLSS: Learnable Sample Selection For Monocular …

An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

Reconstructing accurate 3D scenes from images is a long-standing vision task. Due to the ill-posedness of the single-image reconstruction problem, most well-established methods are built upon multi-view geometry. State-of-the-art (SOTA)…

Pyramidal networks are standard methods for multi-scale object detection. Current researches on feature pyramid networks usually adopt layer connections to collect features from certain levels of the feature hierarchy, and do not consider…

We present the MDS feature learning framework, in which multidimensional scaling (MDS) is applied on high-level pairwise image distances to learn fixed-length vector representations of images. The aspects of the images that are captured by…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Monocular 3D object detection has achieved impressive performance on densely annotated datasets. However, it struggles when only a fraction of objects are labeled due to the high cost of 3D annotation. This sparsely annotated setting is…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Data augmentation is a key component of CNN based image recognition tasks like object detection. However, it is relatively less explored for 3D object detection. Many standard 2D object detection data augmentation techniques do not extend…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

Self-supervised learning (SSL) methods targeting scene images have seen a rapid growth recently, and they mostly rely on either a dedicated dense matching mechanism or a costly unsupervised object discovery module. This paper shows that…

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…

We introduce MM-Mixing, a multi-modal mixing alignment framework for 3D understanding. MM-Mixing applies mixing-based methods to multi-modal data, preserving and optimizing cross-modal connections while enhancing diversity and improving…

We propose a novel approach for monocular 3D object detection by leveraging local perspective effects of each object. While the global perspective effect shown as size and position variations has been exploited for monocular 3D detection…

SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…

Generalizing an object detector trained on a single domain to multiple unseen domains is a challenging task. Existing methods typically introduce image or feature augmentation to diversify the source domain to raise the robustness of the…