相关论文: Monocular 3D Object Detection: An Extrinsic Parame…

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…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Autonomous driving perception tasks rely heavily on cameras as the primary sensor for Object Detection, Semantic Segmentation, Instance Segmentation, and Object Tracking. However, RGB images captured by cameras lack depth information, which…

Image-only and pseudo-LiDAR representations are commonly used for monocular 3D object detection. However, methods based on them have shortcomings of either not well capturing the spatial relationships in neighbored image pixels or being…

Perspective projection has been extensively utilized in monocular 3D object detection methods. It introduces geometric priors from 2D bounding boxes and 3D object dimensions to reduce the uncertainty of depth estimation. However, due to…

Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…

The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…

Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend on the geometric assumption of a fixed camera or use a…

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

Monocular 3D object detection has attracted great attention for its advantages in simplicity and cost. Due to the ill-posed 2D to 3D mapping essence from the monocular imaging process, monocular 3D object detection suffers from inaccurate…

Estimating 3D orientation and translation of objects is essential for infrastructure-less autonomous navigation and driving. In case of monocular vision, successful methods have been mainly based on two ingredients: (i) a network generating…

We focus on the problem of detecting traffic events in a surveillance scenario, including the detection of both vehicle actions and traffic collisions. Existing event detection systems are mostly learning-based and have achieved convincing…

The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as…

We present a deep learning method for end-to-end monocular 3D object detection and metric shape retrieval. We propose a novel loss formulation by lifting 2D detection, orientation, and scale estimation into 3D space. Instead of optimizing…

Autonomous vehicles and driver assistance systems utilize maps of 3D semantic landmarks for improved decision making. However, scaling the mapping process as well as regularly updating such maps come with a huge cost. Crowdsourced mapping…

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…

As cameras are increasingly deployed in new application domains such as autonomous driving, performing 3D object detection on monocular images becomes an important task for visual scene understanding. Recent advances on monocular 3D object…

Depth estimation and 3D object detection are critical for scene understanding but remain challenging to perform with a single image due to the loss of 3D information during image capture. Recent models using deep neural networks have…

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…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…