Related papers: Towards Accurate Single Panoramic 3D Detection: A …

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance,…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…

This paper proposes a novel method to estimate the global scale of a 3D reconstructed model within a Kalman filtering-based monocular SLAM algorithm. Our Bayesian framework integrates height priors over the detected objects belonging to a…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

Holistic 3D scene understanding, which jointly models geometry, appearance, and semantics, is crucial for applications like augmented reality and robotic interaction. Existing feed-forward 3D scene understanding methods (e.g., LSM) are…

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…

Zero-shot neural scene segmentation, which reconstructs 3D neural segmentation field without manual annotations, serves as an effective way for scene understanding. However, existing models, especially the efficient 3D Gaussian-based…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Most state-of-the-art 3D object detectors heavily rely on LiDAR sensors because there is a large performance gap between image-based and LiDAR-based methods. It is caused by the way to form representation for the prediction in 3D scenarios.…

Recently, 3D Gaussian, as an explicit 3D representation method, has demonstrated strong competitiveness over NeRF (Neural Radiance Fields) in terms of expressing complex scenes and training duration. These advantages signal a wide range of…

Automatically generating a complete 3D scene from a text description, a reference image, or both has significant applications in fields like virtual reality and gaming. However, current methods often generate low-quality textures and…

We propose GO-N3RDet, a scene-geometry optimized multi-view 3D object detector enhanced by neural radiance fields. The key to accurate 3D object detection is in effective voxel representation. However, due to occlusion and lack of 3D…

This paper studies the problem of estimating physical properties (system identification) through visual observations. To facilitate geometry-aware guidance in physical property estimation, we introduce a novel hybrid framework that…

Injecting semantics into 3D Gaussian Splatting (3DGS) has recently garnered significant attention. While current approaches typically distill 3D semantic features from 2D foundational models (e.g., CLIP and SAM) to facilitate novel view…

Monocular 3D object detection is an essential component in autonomous driving while challenging to solve, especially for those occluded samples which are only partially visible. Most detectors consider each 3D object as an independent…

3D Gaussian Splatting (3DGS) achieves an appealing balance between rendering quality and efficiency, but relies on approximating 3D Gaussians as 2D projections--an assumption that degrades accuracy, especially under generic large…

In this work, we revisit several key design choices of modern Transformer-based approaches for feed-forward 3D Gaussian Splatting (3DGS) prediction. We argue that the common practice of regressing Gaussian means as depths along camera rays…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…