相关论文: Monocular 3D Object Detection with Sequential Feat…

Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not…

Reliable perception of the environment plays a crucial role in enabling efficient self-driving vehicles. Therefore, the perception system necessitates the acquisition of comprehensive 3D data regarding the surrounding objects within a…

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a single RGB image due to the geometric information loss during imagery projection. We propose…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work uses a standard tracking-by-detection pipeline, where feature extraction is first performed independently for each object in order to compute an affinity matrix.…

This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…

Today's state-of-the-art methods for 3D object detection are based on lidar, stereo, or monocular cameras. Lidar-based methods achieve the best accuracy, but have a large footprint, high cost, and mechanically-limited angular sampling…

Monocular 3D object detection aims to detect objects in a 3D physical world from a single camera. However, recent approaches either rely on expensive LiDAR devices, or resort to dense pixel-wise depth estimation that causes prohibitive…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

Recent advancements in transformer-based monocular 3D object detection techniques have exhibited exceptional performance in inferring 3D attributes from single 2D images. However, most existing methods rely on resource-intensive transformer…

Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…

Monocular depth estimation is known as an ill-posed task in which objects in a 2D image usually do not contain sufficient information to predict their depth. Thus, it acts differently from other tasks (e.g., classification and segmentation)…

Since the introduction of the self-attention mechanism and the adoption of the Transformer architecture for Computer Vision tasks, the Vision Transformer-based architectures gained a lot of popularity in the field, being used for tasks such…

Incremental 3D object perception is a critical step toward embodied intelligence in dynamic indoor environments. However, existing incremental 3D detection methods rely on extensive annotations of novel classes for satisfactory performance.…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

Data augmentation is a key component of CNN based image recognition tasks like object detection. However, it is relatively less explored for 3D object detection. Many standard 2D object detection data augmentation techniques do not extend…

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…