相关论文: Exploring the Capabilities and Limits of 3D Monocu…

While expensive LiDAR and stereo camera rigs have enabled the development of successful 3D object detection methods, monocular RGB-only approaches lag much behind. This work advances the state of the art by introducing MoVi-3D, a novel,…

Modern approaches for vision-centric environment perception for autonomous navigation make extensive use of self-supervised monocular depth estimation algorithms that output disparity maps. However, when this disparity map is projected onto…

3D object detection from images, one of the fundamental and challenging problems in autonomous driving, has received increasing attention from both industry and academia in recent years. Benefiting from the rapid development of deep…

Monocular 3D object detection is a cost-effective solution for applications like autonomous driving and robotics, but remains fundamentally ill-posed due to inherently ambiguous depth cues. Recent DETR-based methods attempt to mitigate this…

Monocular 3D object detection offers a cost-effective solution for autonomous driving but suffers from ill-posed depth and limited field of view. These constraints cause a lack of geometric cues and reduced accuracy in occluded or truncated…

Computer vision-based object detection is a key modality for advanced Detect-And-Avoid systems that allow for autonomous flight missions of UAVs. While standard object detection frameworks do not predict the actual depth of an object, this…

Per-object distance estimation is critical in surveillance and autonomous driving, where safety is crucial. While existing methods rely on geometric or deep supervised features, only a few attempts have been made to leverage self-supervised…

Solving depth estimation with monocular cameras enables the possibility of widespread use of cameras as low-cost depth estimation sensors in applications such as autonomous driving and robotics. However, learning such a scalable depth…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

Localizing objects in 3D space and understanding their associated 3D properties is challenging given only monocular RGB images. The situation is compounded by the loss of depth information during perspective projection. We present Center3D,…

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…

Most existing algorithms for depth estimation from single monocular images need large quantities of metric groundtruth depths for supervised learning. We show that relative depth can be an informative cue for metric depth estimation and can…

Depth-aware video panoptic segmentation tackles the inverse projection problem of restoring panoptic 3D point clouds from video sequences, where the 3D points are augmented with semantic classes and temporally consistent instance…

Event cameras provide low-latency perception for only milliwatts of power. This makes them highly suitable for resource-restricted, agile robots such as small flying drones. Self-supervised learning based on contrast maximization holds…

Monocular 3D object detection aims to locate objects in different scenes with just a single image. Due to the absence of depth information, several monocular 3D detection techniques have emerged that rely on auxiliary depth maps from the…

In this paper, we study the problem of 3D object detection from stereo images, in which the key challenge is how to effectively utilize stereo information. Different from previous methods using pixel-level depth maps, we propose employing…