相关论文: S$^3$-MonoDETR: Supervised Shape&Scale-perceptive …

In this paper, we present DAT, a Depth-Aware Transformer framework designed for camera-based 3D detection. Our model is based on observing two major issues in existing methods: large depth translation errors and duplicate predictions along…

Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

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…

Most existing salient object detection methods mostly use U-Net or feature pyramid structure, which simply aggregates feature maps of different scales, ignoring the uniqueness and interdependence of them and their respective contributions…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

Monocular 3D object detection (Mono 3Det) aims to identify 3D objects from a single RGB image. However, existing methods often assume training and test data follow the same distribution, which may not hold in real-world test scenarios. To…

Solving depth estimation with monocular cameras enables the possibility of widespread use of cameras as low-cost depth estimation sensors in applications such as autonomous driving and robotics. However, learning such a scalable depth…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Recent progress in 3D object detection from single images leverages monocular depth estimation as a way to produce 3D pointclouds, turning cameras into pseudo-lidar sensors. These two-stage detectors improve with the accuracy of the…

Drones equipped with cameras can significantly enhance human ability to perceive the world because of their remarkable maneuverability in 3D space. Ironically, object detection for drones has always been conducted in the 2D image space,…

Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…

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…

Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…