相关论文: Triangulation Learning Network: from Monocular to …

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

Railway systems, particularly in Germany, require high levels of automation to address legacy infrastructure challenges and increase train traffic safely. A key component of automation is robust long-range perception, essential for early…

Deep learning has recently started being applied to visual tracking of generic objects in video streams. For the purposes of robotics applications, it is very important for a target tracker to recover its track if it is lost due to heavy or…

Monocular 3D object detection (Mono3D) aims to infer object locations and dimensions in 3D space from a single RGB image. Despite recent progress, existing methods remain highly sensitive to camera intrinsics and struggle to generalize…

We propose Differentiable Stereopsis, a multi-view stereo approach that reconstructs shape and texture from few input views and noisy cameras. We pair traditional stereopsis and modern differentiable rendering to build an end-to-end model…

Monocular 3D object localization in driving scenes is a crucial task, but challenging due to its ill-posed nature. Estimating 3D coordinates for each pixel on the object surface holds great potential as it provides dense 2D-3D geometric…

This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather…

We present a new learning-based framework S-3D-RCNN that can recover accurate object orientation in SO(3) and simultaneously predict implicit rigid shapes from stereo RGB images. For orientation estimation, in contrast to previous studies…

In this paper, we strive for solving the ambiguities arisen by the astoundingly high density of raw PseudoLiDAR for monocular 3D object detection for autonomous driving. Without much computational overhead, we propose a supervised and an…

In the field of monocular 3D detection, it is common practice to utilize scene geometric clues to enhance the detector's performance. However, many existing works adopt these clues explicitly such as estimating a depth map and…

The paper proposes a method to convert a deep learning object detector into an equivalent spiking neural network. The aim is to provide a conversion framework that is not constrained to shallow network structures and classification problems…

Monocular 3D object parsing is highly desirable in various scenarios including occlusion reasoning and holistic scene interpretation. We present a deep convolutional neural network (CNN) architecture to localize semantic parts in 2D image…

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…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…

Videos acquired in low-light conditions often exhibit motion blur, which depends on the motion of the objects relative to the camera. This is not only visually unpleasing, but can hamper further processing. With this paper we are the first…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

In this paper we propose a novel 3D single-shot object detection method for detecting vehicles in monocular RGB images. Our approach lifts 2D detections to 3D space by predicting additional regression and classification parameters and hence…

Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle…

Monocular 3D object detection is an essential perception task for autonomous driving. However, the high reliance on large-scale labeled data make it costly and time-consuming during model optimization. To reduce such over-reliance on human…