Related papers: Difficulty-Aware Label-Guided Denoising for Monocu…

Roadside perception datasets are typically constructed via cooperative labeling between synchronized vehicle and roadside frame pairs. However, real deployment often requires annotation of roadside-only data due to hardware and privacy…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for…

Monocular 3D object detection aims to locate objects in different scenes with just a single image. Due to the absence of depth information, several monocular 3D detection techniques have emerged that rely on auxiliary depth maps from the…

3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

One of the key problems in 3D object detection is to reduce the accuracy gap between methods based on LiDAR sensors and those based on monocular cameras. A recently proposed framework for monocular 3D detection based on Pseudo-Stereo has…

Image-only and pseudo-LiDAR representations are commonly used for monocular 3D object detection. However, methods based on them have shortcomings of either not well capturing the spatial relationships in neighbored image pixels or being…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

RGB-D tracking significantly improves the accuracy of object tracking. However, its dependency on real depth inputs and the complexity involved in multi-modal fusion limit its applicability across various scenarios. The utilization of depth…

In this paper, we present a self-training method, named ST3D++, with a holistic pseudo label denoising pipeline for unsupervised domain adaptation on 3D object detection. ST3D++ aims at reducing noise in pseudo label generation as well as…

Weakly supervised monocular 3D detection, while less annotation-intensive, often struggles to capture the global context required for reliable 3D reasoning. Conventional label-efficient methods focus on object-centric features, neglecting…

As cameras are increasingly deployed in new application domains such as autonomous driving, performing 3D object detection on monocular images becomes an important task for visual scene understanding. Recent advances on monocular 3D object…

The ambiguous appearance, tiny scale, and fine-grained classes of objects in remote sensing imagery inevitably lead to the noisy annotations in category labels of detection dataset. However, the effects and treatments of the label noises…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

Detecting objects in 3D space from monocular input is crucial for applications ranging from robotics to scene understanding. Despite advanced performance in the indoor and autonomous driving domains, existing monocular 3D detection models…

Monocular 3D detection (Mono3D) aims to infer 3D bounding boxes from a single RGB image. Without auxiliary sensors such as LiDAR, this task is inherently ill-posed since the 3D-to-2D projection introduces depth ambiguity. Previous works…

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

We present a novel method for precise 3D object localization in single images from a single calibrated camera using only 2D labels. No expensive 3D labels are needed. Thus, instead of using 3D labels, our model is trained with…