相关论文: Joint 2D-3D Multi-Task Learning on Cityscapes-3D: …

We introduce a framework for multi-camera 3D object detection. In contrast to existing works, which estimate 3D bounding boxes directly from monocular images or use depth prediction networks to generate input for 3D object detection from 2D…

Monocular 3D object detection (Mono3D) holds noteworthy promise for autonomous driving applications owing to the cost-effectiveness and rich visual context of monocular camera sensors. However, depth ambiguity poses a significant challenge,…

In this paper, we introduce a novel approach that harnesses both 2D and 3D attentions to enable highly accurate depth completion without requiring iterative spatial propagations. Specifically, we first enhance a baseline convolutional depth…

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Vision-language models (VLMs) have achieved remarkable success in scene understanding and perception tasks, enabling robots to plan and execute actions adaptively in dynamic environments. However, most multimodal large language models lack…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Facial motion retargeting is an important problem in both computer graphics and vision, which involves capturing the performance of a human face and transferring it to another 3D character. Learning 3D morphable model (3DMM) parameters from…

While current approaches for neural network training often aim at improving performance, less focus is put on training methods aiming at robustness towards varying noise conditions or directed attacks by adversarial examples. In this paper,…

With the rapid advancement of remote sensing technology, high-resolution multi-modal imagery is now more widely accessible. Conventional Object detection models are trained on a single dataset, often restricted to a specific imaging…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

BEV-based 3D perception has emerged as a focal point of research in end-to-end autonomous driving. However, existing BEV approaches encounter significant challenges due to the large feature space, complicating efficient modeling and…

Multi-Target Multi-Camera Tracking (MTMC) is an essential computer vision task for automating large-scale surveillance. With camera calibration and depth information, the targets in the scene can be projected into 3D space, offering…

Cutting-edge connected vehicle (CV) technologies have drawn much attention in recent years. The real-time traffic data captured by a CV can be shared with other CVs and data centers so as to open new possibilities for solving diverse…

In this paper, we propose a novel integrated framework for learning both text detection and recognition. For most of the existing methods, detection and recognition are treated as two isolated tasks and trained separately, since parameters…

Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…