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The detection of 3D objects through a single perspective camera is a challenging issue. The anchor-free and keypoint-based models receive increasing attention recently due to their effectiveness and simplicity. However, most of these…
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…
Weakly supervised object detection (WSOD) using only image-level annotations has attracted a growing attention over the past few years. Whereas such task is typically addressed with a domain-specific solution focused on natural images, we…
Monocular 3D object detection task aims to predict the 3D bounding boxes of objects based on monocular RGB images. Since the location recovery in 3D space is quite difficult on account of absence of depth information, this paper proposes a…
Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…
In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box as an important component. Four edges of…
Deploying 3D detectors in unfamiliar domains has been demonstrated to result in a significant 70-90% drop in detection rate due to variations in lidar, geography, or weather from their training dataset. This domain gap leads to missing…
LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…
Deep learning for detecting objects in remotely sensed imagery can enable new technologies for important applications including mitigating climate change. However, these models often require large datasets labeled with bounding box…
For autonomous vehicles, driving safely is highly dependent on the capability to correctly perceive the environment in 3D space, hence the task of 3D object detection represents a fundamental aspect of perception. While 3D sensors deliver…
Unsupervised domain adaptation for LiDAR-based 3D object detection (3D UDA) based on the teacher-student architecture with pseudo labels has achieved notable improvements in recent years. Although it is quite popular to collect point clouds…
Despite weakly supervised object detection (WSOD) being a promising step toward evading strong instance-level annotations, its capability is confined to closed-set categories within a single training dataset. In this paper, we propose a…
Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…
Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied…
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…
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…
We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…
In this paper, we investigate the problem of weakly supervised 3D vehicle detection. Conventional methods for 3D object detection need vast amounts of manually labelled 3D data as supervision signals. However, annotating large datasets…
Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…
There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…