相关论文: SoK: Vehicle Orientation Representations for Deep …

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Existing deep-learning based monocular orientation estimation algorithms faces the problem of confusion between the anterior and posterior parts of the objects, caused by the feature similarity of such parts in typical objects in traffic…

Image-level contrastive representation learning has proven to be highly effective as a generic model for transfer learning. Such generality for transfer learning, however, sacrifices specificity if we are interested in a certain downstream…

Robotic kitting is a critical task in industrial automation that requires the precise arrangement of objects into kits to support downstream production processes. However, when handling complex kitting tasks that involve fine-grained…

We propose a 3D object detection method for autonomous driving by fully exploiting the sparse and dense, semantic and geometry information in stereo imagery. Our method, called Stereo R-CNN, extends Faster R-CNN for stereo inputs to…

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…

Monocular 3D object detection task aims to predict the 3D bounding boxes of objects based on monocular RGB images. Since the location recovery in 3D space is quite difficult on account of absence of depth information, this paper proposes a…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

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…

Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

Existing multi-view three-dimensional (3D) object detection approaches widely adopt large-scale pre-trained vision transformer (ViT)-based foundation models as backbones, being computationally complex. To address this problem, current…

Directly learning multiple 3D objects motion from sequential images is difficult, while the geometric bundle adjustment lacks the ability to localize the invisible object centroid. To benefit from both the powerful object understanding…

Robust road detection is a key challenge in safe autonomous driving. Recently, with the rapid development of 3D sensors, more and more researchers are trying to fuse information across different sensors to improve the performance of road…

The dominant majority of 3D models that appear in gaming, VR/AR, and those we use to train geometric deep learning algorithms are incomplete, since they are modeled as surface meshes and missing their interior structures. We present a…