相关论文: Exploring 2D Data Augmentation for 3D Monocular Ob…

In this work, we shed light on different data augmentation techniques commonly used in Light Detection and Ranging (LiDAR) based 3D Object Detection. For the bulk of our experiments, we utilize the well known PointPillars pipeline and the…

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…

This paper investigates the geometric consistency for monocular 3D object detection, which suffers from the ill-posed depth estimation. We first conduct a thorough analysis to reveal how existing methods fail to consistently localize…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

Current monocular 3D detectors are held back by the limited diversity and scale of real-world datasets. While data augmentation certainly helps, it's particularly difficult to generate realistic scene-aware augmented data for outdoor…

In this paper we propose an approach for monocular 3D object detection from a single RGB image, which leverages a novel disentangling transformation for 2D and 3D detection losses and a novel, self-supervised confidence score for 3D…

Data augmentation is a critical component of training deep learning models. Although data augmentation has been shown to significantly improve image classification, its potential has not been thoroughly investigated for object detection.…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

It is difficult to collect data on a large scale in a monocular depth estimation because the task requires the simultaneous acquisition of RGB images and depths. Data augmentation is thus important to this task. However, there has been…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Driving scenes are extremely diverse and complicated that it is impossible to collect all cases with human effort alone. While data augmentation is an effective technique to enrich the training data, existing methods for camera data in…

Data augmentation has greatly contributed to improving the performance in image recognition tasks, and a lot of related studies have been conducted. However, data augmentation on 3D point cloud data has not been much explored. 3D label has…

Motivated by the need to improve model performance in traffic monitoring tasks with limited labeled samples, we propose a straightforward augmentation technique tailored for object detection datasets, specifically designed for stationary…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Data augmentations are important in training high-performance 3D object detectors for point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly, most state-of-the-art 3D detectors only use a few simple…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…