相关论文: Transformer-based stereo-aware 3D object detection…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Recently, sparse 3D convolutions have changed 3D object detection. Performing on par with the voting-based approaches, 3D CNNs are memory-efficient and scale to large scenes better. However, there is still room for improvement. With a…

In recent years, Transformers have achieved remarkable progress in computer vision tasks. However, their global modeling often comes with substantial computational overhead, in stark contrast to the human eye's efficient information…

Image matching is still challenging in such scenes with large viewpoints or illumination changes or with low textures. In this paper, we propose a Transformer-based pseudo 3D image matching method. It upgrades the 2D features extracted from…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

Bounded by the inherent ambiguity of depth perception, contemporary camera-based 3D object detection methods fall into the performance bottleneck. Intuitively, leveraging temporal multi-view stereo (MVS) technology is the natural knowledge…

The recent trend in multiple object tracking (MOT) is heading towards leveraging deep learning to boost the tracking performance. In this paper, we propose a novel solution named TransSTAM, which leverages Transformer to effectively model…

This paper proposes novel methods to enhance the performance of monocular 3D object detection models by leveraging the generalized feature extraction capabilities of a vision foundation model. Unlike traditional CNN-based approaches, which…

Object detection has recently seen an interesting trend in terms of the most innovative research work, this task being of particular importance in the field of remote sensing, given the consistency of these images in terms of geographical…

DETR is a recently proposed Transformer-based method which views object detection as a set prediction problem and achieves state-of-the-art performance but demands extra-long training time to converge. In this paper, we investigate the…

The ability to detect objects in images at varying scales has played a pivotal role in the design of modern object detectors. Despite considerable progress in removing hand-crafted components and simplifying the architecture with…

Fast stereo based 3D object detectors have made great progress recently. However, they lag far behind high-precision stereo based methods in accuracy. We argue that the main reason is due to the poor geometry-aware feature representation in…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

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…

Various models have been proposed to perform object detection. However, most require many handdesigned components such as anchors and non-maximum-suppression(NMS) to demonstrate good performance. To mitigate these issues, Transformer-based…

In this paper, we propose a novel system named Disp R-CNN for 3D object detection from stereo images. Many recent works solve this problem by first recovering a point cloud with disparity estimation and then apply a 3D detector. The…

3D object detection with a single image is an essential and challenging task for autonomous driving. Recently, keypoint-based monocular 3D object detection has made tremendous progress and achieved great speed-accuracy trade-off. However,…

Current Transformer-based methods for small object detection continue emerging, yet they have still exhibited significant shortcomings. This paper introduces HeatMap Position Embedding (HMPE), a novel Transformer Optimization technique that…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

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.…