相关论文: Combining 3D Model Contour Energy and Keypoints fo…

Monocular 3D object detection encounters occlusion problems in many application scenarios, such as traffic monitoring, pedestrian monitoring, etc., which leads to serious false negative. Multi-view object detection effectively solves this…

We propose DFPNet -- an unsupervised, joint learning system for monocular Depth, Optical Flow and egomotion (Camera Pose) estimation from monocular image sequences. Due to the nature of 3D scene geometry these three components are coupled.…

Finding reliable matches is essential in multi-object tracking to ensure the accuracy and reliability of perception systems in safety-critical applications such as autonomous vehicles. Effective matching mitigates perception errors,…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Visual 3D motion estimation aims to infer the motion of 2D pixels in 3D space based on visual cues. The key challenge arises from depth variation induced spatio-temporal motion inconsistencies, disrupting the assumptions of local spatial or…

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the…

As an important and challenging problem in computer vision and graphics, keypoint-based object tracking is typically formulated in a spatio-temporal statistical learning framework. However, most existing keypoint trackers are incapable of…

We propose a novel ConvNet model for predicting 2D human body poses in an image. The model regresses a heatmap representation for each body keypoint, and is able to learn and represent both the part appearances and the context of the part…

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…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

Visual-based target tracking is easily influenced by multiple factors, such as background clutter, targets fast-moving, illumination variation, object shape change, occlusion, etc. These factors influence the tracking accuracy of a target…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

3D motion tracking is a critical task in many computer vision applications. Existing 3D motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…

In this paper, we propose enhancing monocular depth estimation by adding 3D points as depth guidance. Unlike existing depth completion methods, our approach performs well on extremely sparse and unevenly distributed point clouds, which…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…