Related papers: Scaling Multi-Camera 3D Object Detection through W…

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…

DETR accomplishes end-to-end object detection through iteratively generating multiple object candidates based on image features and promoting one candidate for each ground-truth object. The traditional training procedure using one-to-one…

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…

Monocular 3D object detection is an inherently ill-posed problem, as it is challenging to predict accurate 3D localization from a single image. Existing monocular 3D detection knowledge distillation methods usually project the LiDAR onto…

Inferring 3D locations and shapes of multiple objects from a single 2D image is a long-standing objective of computer vision. Most of the existing works either predict one of these 3D properties or focus on solving both for a single object.…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…

Reconstructing 3D objects from a single image is an intriguing but challenging problem. One promising solution is to utilize multi-view (MV) 3D reconstruction to fuse generated MV images into consistent 3D objects. However, the generated…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

While weakly supervised multi-view face reconstruction (MVR) is garnering increased attention, one critical issue still remains open: how to effectively interact and fuse multiple image information to reconstruct high-precision 3D models.…

We present a novel architecture for 3D object detection, M3DeTR, which combines different point cloud representations (raw, voxels, bird-eye view) with different feature scales based on multi-scale feature pyramids. M3DeTR is the first…

In autonomous driving, cooperative perception makes use of multi-view cameras from both vehicles and infrastructure, providing a global vantage point with rich semantic context of road conditions beyond a single vehicle viewpoint.…

Denoising diffusion models have demonstrated outstanding results in 2D image generation, yet it remains a challenge to replicate its success in 3D shape generation. In this paper, we propose leveraging multi-view depth, which represents…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

Localizing objects in 3D space and understanding their associated 3D properties is challenging given only monocular RGB images. The situation is compounded by the loss of depth information during perspective projection. We present Center3D,…

Vision-centric bird-eye-view (BEV) perception has shown promising potential in autonomous driving. Recent works mainly focus on improving efficiency or accuracy but neglect the challenges when facing environment changing, resulting in…

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 success of monocular depth estimation relies on large and diverse training sets. Due to the challenges associated with acquiring dense ground-truth depth across different environments at scale, a number of datasets with distinct…

Monocular 3D object detection has vast application potential across various fields. DETR-type models have shown remarkable performance in different areas, but there is still considerable room for improvement in monocular 3D detection,…