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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…

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…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

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…

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,…

Pre-trained on extensive and diverse multi-modal datasets, 2D foundation models excel at addressing 2D tasks with little or no downstream supervision, owing to their robust representations. The emergence of 2D-to-3D distillation frameworks…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

Monocular 3D object detection is of great significance for autonomous driving but remains challenging. The core challenge is to predict the distance of objects in the absence of explicit depth information. Unlike regressing the distance as…

In this paper, we focus on developing knowledge distillation (KD) for compact 3D detectors. We observe that off-the-shelf KD methods manifest their efficacy only when the teacher model and student counterpart share similar intermediate…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

Stereo-based depth estimation is a cornerstone of computer vision, with state-of-the-art methods delivering accurate results in real time. For several applications such as autonomous navigation, however, it may be useful to trade accuracy…

Monocular 3D lane detection is challenged by aleatoric uncertainty arising from inherent observation noise. Existing methods rely on simplified geometric assumptions, such as independent point predictions or global planar modeling, failing…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

This paper investigates the geometric consistency for monocular 3D object detection, which suffers from the ill-posed depth estimation. We first conduct a thorough analysis to reveal how existing methods fail to consistently localize…

Multi-view 3D object detection is a fundamental task in autonomous driving perception, where achieving a balance between detection accuracy and computational efficiency remains crucial. Sparse query-based 3D detectors efficiently aggregate…

The recent development of \emph{foundation models} for monocular depth estimation such as Depth Anything paved the way to zero-shot monocular depth estimation. Since it returns an affine-invariant disparity map, the favored technique to…