相关论文: Explicit3D: Graph Network with Spatial Inference f…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…

3D object detection has been widely studied due to its potential applicability to many promising areas such as robotics and augmented reality. Yet, the sparse nature of the 3D data poses unique challenges to this task. Most notably, the…

Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…

Massive semantically labeled datasets are readily available for 2D images, however, are much harder to achieve for 3D scenes. Objects in 3D repositories like ShapeNet are labeled, but regrettably only in isolation, so without context. 3D…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

In many real-world applications involving static environments, the spatial layout of objects remains consistent across instances. However, state-of-the-art object detection models often fail to leverage this spatial prior, resulting in…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

We present a unified framework for 3D geometric abstraction using a single continuous 4D wire, parameterized as a B-spline with spatial coordinates and variable width $(x,y,z,w)$. Existing approaches typically represent shapes as…

We present an efficient 3D object detection framework based on a single RGB image in the scenario of autonomous driving. Our efforts are put on extracting the underlying 3D information in a 2D image and determining the accurate 3D bounding…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

Autonomous driving requires accurate local scene understanding information. To this end, autonomous agents deploy object detection and online BEV lane graph extraction methods as a part of their perception stack. In this work, we propose an…

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…

The identification and removal of systematic errors in object detectors can be a prerequisite for their deployment in safety-critical applications like automated driving and robotics. Such systematic errors can for instance occur under very…

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

The growing adoption of robotics and augmented reality in real-world applications has driven considerable research interest in 3D object detection based on point clouds. While previous methods address unified training across multiple…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Monocular 3D object parsing is highly desirable in various scenarios including occlusion reasoning and holistic scene interpretation. We present a deep convolutional neural network (CNN) architecture to localize semantic parts in 2D image…

The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…

3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work often uses a tracking-by-detection pipeline, where the feature of each object is extracted independently to compute an affinity matrix. Then, the affinity matrix…