相关论文: Learning Occupancy for Monocular 3D Object Detecti…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

3D instance segmentation, with a variety of applications in robotics and augmented reality, is in large demands these days. Unlike 2D images that are projective observations of the environment, 3D models provide metric reconstruction of the…

3D occupancy prediction based on multi-sensor fusion,crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing…

Modern approaches for vision-centric environment perception for autonomous navigation make extensive use of self-supervised monocular depth estimation algorithms that output disparity maps. However, when this disparity map is projected onto…

Vision-Language Models (VLMs) have shown significant progress in open-set challenges. However, the limited availability of 3D datasets hinders their effective application in 3D scene understanding. We propose LOC, a general language-guided…

Accurate 3D perception is essential for understanding the environment in autonomous driving. Recent advancements in 3D semantic occupancy prediction have leveraged camera-LiDAR fusion to improve robustness and accuracy. However, current…

Monocular 3D object detection reveals an economical but challenging task in autonomous driving. Recently center-based monocular methods have developed rapidly with a great trade-off between speed and accuracy, where they usually depend on…

Accurate perception of the surrounding environment is essential for safe autonomous driving. 3D occupancy prediction, which estimates detailed 3D structures of roads, buildings, and other objects, is particularly important for…

Monocular 3D object detection is an important task for autonomous driving considering its advantage of low cost. It is much more challenging than conventional 2D cases due to its inherent ill-posed property, which is mainly reflected in the…

Current monocular 3D detectors are held back by the limited diversity and scale of real-world datasets. While data augmentation certainly helps, it's particularly difficult to generate realistic scene-aware augmented data for outdoor…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

Current perception models in autonomous driving heavily rely on large-scale labelled 3D data, which is both costly and time-consuming to annotate. This work proposes a solution to reduce the dependence on labelled 3D training data by…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

In this survey we present a complete landscape of joint object detection and pose estimation methods that use monocular vision. Descriptions of traditional approaches that involve descriptors or models and various estimation methods have…

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Due to the lack of depth information of images and poor detection accuracy in monocular 3D object detection, we proposed the instance depth for multi-scale monocular 3D object detection method. Firstly, to enhance the model's processing…