相关论文: IDMS: Instance Depth for Multi-scale Monocular 3D …

Monocular 3D object detection (M3OD) is intrinsically ill-posed, hence training a high-performance deep learning based M3OD model requires a humongous amount of labeled data with complicated visual variation from diverse scenes, variety of…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…

Environment perception, including object detection and distance estimation, is one of the most crucial tasks for autonomous driving. Many attentions have been paid on the object detection task, but distance estimation only arouse few…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Monocular depth estimation has become one of the most studied applications in computer vision, where the most accurate approaches are based on fully supervised learning models. However, the acquisition of accurate and large ground truth…

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…

We present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image object detection, we…

Recent advancements in autonomous driving, augmented reality, robotics, and embodied intelligence have necessitated 3D perception algorithms. However, current 3D perception methods, especially specialized small models, exhibit poor…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Monocular 3D object detection has long been a challenging task in autonomous driving. Most existing methods follow conventional 2D detectors to first localize object centers, and then predict 3D attributes by neighboring features. However,…

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…

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,…

With the frequent use of self-supervised monocular depth estimation in robotics and autonomous driving, the model's efficiency is becoming increasingly important. Most current approaches apply much larger and more complex networks to…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

While DETR-like architectures have demonstrated significant potential for monocular 3D object detection, they are often hindered by a critical limitation: the exclusion of 3D attributes from the bipartite matching process. This exclusion…

Due to the inherent ill-posed nature of 2D-3D projection, monocular 3D object detection lacks accurate depth recovery ability. Although the deep neural network (DNN) enables monocular depth-sensing from high-level learned features, the…

The labels of monocular 3D object detection (M3OD) are expensive to obtain. Meanwhile, there usually exists numerous unlabeled data in practical applications, and pre-training is an efficient way of exploiting the knowledge in unlabeled…

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…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…