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Image-based 3D detection is an indispensable component of the perception system for autonomous driving. However, it still suffers from the unsatisfying performance, one of the main reasons for which is the limited training data.…

The inherent ambiguity in ground-truth annotations of 3D bounding boxes, caused by occlusions, signal missing, or manual annotation errors, can confuse deep 3D object detectors during training, thus deteriorating detection accuracy.…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

Monocular 3D object detection aims to extract the 3D position and properties of objects from a 2D input image. This is an ill-posed problem with a major difficulty lying in the information loss by depth-agnostic cameras. Conventional…

Perceiving the physical world in 3D is fundamental for self-driving applications. Although temporal motion is an invaluable resource to human vision for detection, tracking, and depth perception, such features have not been thoroughly…

In this paper, we propose the first self-distillation framework for general object detection, termed LGD (Label-Guided self-Distillation). Previous studies rely on a strong pretrained teacher to provide instructive knowledge that could be…

Although the majority of recent autonomous driving systems concentrate on developing perception methods based on ego-vehicle sensors, there is an overlooked alternative approach that involves leveraging intelligent roadside cameras to help…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

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…

Monocular 3D object detection aims for precise 3D localization and identification of objects from a single-view image. Despite its recent progress, it often struggles while handling pervasive object occlusions that tend to complicate and…

Partial label learning (PLL) is a typical weakly supervised learning framework, where each training instance is associated with a candidate label set, among which only one label is valid. To solve PLL problems, typically methods try to…

In this paper, we propose to learn a deep fitting degree scoring network for monocular 3D object detection, which aims to score fitting degree between proposals and object conclusively. Different from most existing monocular frameworks…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

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…

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 essential task in computer vision, and it has several applications in robotics and virtual reality. However, 3D object detectors are typically trained in a fully supervised way, relying extensively on 3D…

Since the introduction of the self-attention mechanism and the adoption of the Transformer architecture for Computer Vision tasks, the Vision Transformer-based architectures gained a lot of popularity in the field, being used for tasks such…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…

We introduce NimbleD, an efficient self-supervised monocular depth estimation learning framework that incorporates supervision from pseudo-labels generated by a large vision model. This framework does not require camera intrinsics, enabling…