Related papers: Open Vocabulary Monocular 3D Object Detection

The training of deep-learning-based 3D object detectors requires large datasets with 3D bounding box labels for supervision that have to be generated by hand-labeling. We propose a network architecture and training procedure for learning…

We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving. In our framework, the monocular camera serves as the fundamental sensor for 2D object proposal and initial 3D bounding box…

Monocular 3D object detection is an important task for autonomous driving considering its advantage of low cost. It is much more challenging than conventional 2D cases due to its inherent ill-posed property, which is mainly reflected in the…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Depth estimation and 3D object detection are critical for scene understanding but remain challenging to perform with a single image due to the loss of 3D information during image capture. Recent models using deep neural networks have…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

Autonomous driving perception tasks rely heavily on cameras as the primary sensor for Object Detection, Semantic Segmentation, Instance Segmentation, and Object Tracking. However, RGB images captured by cameras lack depth information, which…

3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary, which can be restrictive. To address this…

Monocular 3D object detection encounters occlusion problems in many application scenarios, such as traffic monitoring, pedestrian monitoring, etc., which leads to serious false negative. Multi-view object detection effectively solves this…

Open-vocabulary 3D object detection for autonomous driving aims to detect novel objects beyond the predefined training label sets in point cloud scenes. Existing approaches achieve this by connecting traditional 3D object detectors with…

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…

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…

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…

Building robust and generic object detection frameworks requires scaling to larger label spaces and bigger training datasets. However, it is prohibitively costly to acquire annotations for thousands of categories at a large scale. We…

Monocular 3D object detection is challenging due to the lack of accurate depth. However, existing depth-assisted solutions still exhibit inferior performance, whose reason is universally acknowledged as the unsatisfactory accuracy of…

Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…

Monocular 3D object detection is a key problem for autonomous vehicles, as it provides a solution with simple configuration compared to typical multi-sensor systems. The main challenge in monocular 3D detection lies in accurately predicting…

This paper addresses the challenging problem of open-vocabulary object detection (OVOD) where an object detector must identify both seen and unseen classes in test images without labeled examples of the unseen classes in training. A typical…

Combining simple architectures with large-scale pre-training has led to massive improvements in image classification. For object detection, pre-training and scaling approaches are less well established, especially in the long-tailed and…