相关论文: Geometry Uncertainty Projection Network for Monocu…

The ground plane prior is a very informative geometry clue in monocular 3D object detection (M3OD). However, it has been neglected by most mainstream methods. In this paper, we identify two key factors that limit the applicability of ground…

Depth estimation from a single image is an active research topic in computer vision. The most accurate approaches are based on fully supervised learning models, which rely on a large amount of dense and high-resolution (HR) ground-truth…

In this work, we propose a novel single-shot and keypoints-based framework for monocular 3D objects detection using only RGB images, called KM3D-Net. We design a fully convolutional model to predict object keypoints, dimension, and…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Deep learning-based models have demonstrated remarkable success in solving illposed inverse problems; however, many fail to strictly adhere to the physical constraints imposed by the measurement process. In this work, we introduce a…

A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Depth estimation from a single image is an important task that can be applied to various fields in computer vision, and has grown rapidly with the development of convolutional neural networks. In this paper, we propose a novel structure and…

In machine learning, accurately predicting the probability that a specific input is correct is crucial for risk management. This process, known as uncertainty (or confidence) estimation, is particularly important in mission-critical…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

The inherent ambiguity in ground-truth annotations of 3D bounding boxes, caused by occlusions, signal missing, or manual annotation errors, can confuse deep 3D object detectors during training, thus deteriorating detection accuracy.…

3D object reconstruction is important for semantic scene understanding. It is challenging to reconstruct detailed 3D shapes from monocular images directly due to a lack of depth information, occlusion and noise. Most current methods…

Monocular depth estimation is an extensively studied computer vision problem with a vast variety of applications. Deep learning-based methods have demonstrated promise for both supervised and unsupervised depth estimation from monocular…

A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image…

Monocular 3D object detection is a challenging task in autonomous systems due to the lack of explicit depth information in single-view images. Existing methods often depend on external depth estimators or expensive sensors, which increase…

Accurate uncertainty quantification is a major challenge in deep learning, as neural networks can make overconfident errors and assign high confidence predictions to out-of-distribution (OOD) inputs. The most popular approaches to estimate…

3D objectness estimation, namely discovering semantic objects from 3D scene, is a challenging and significant task in 3D understanding. In this paper, we propose a 3D objectness method working in a bottom-up manner. Beginning with…

We propose a novel algorithm for monocular depth estimation that decomposes a metric depth map into a normalized depth map and scale features. The proposed network is composed of a shared encoder and three decoders, called G-Net, N-Net, and…

The vast majority of uncertainty quantification methods for deep object detectors such as variational inference are based on the network output. Here, we study gradient-based epistemic uncertainty metrics for deep object detectors to obtain…