相关论文: GUPNet++: Geometry Uncertainty Propagation Network…

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…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…

Depth estimation is a challenging task of 3D reconstruction to enhance the accuracy sensing of environment awareness. This work brings a new solution with a set of improvements, which increase the quantitative and qualitative understanding…

Neural surface representation has demonstrated remarkable success in the areas of novel view synthesis and 3D reconstruction. However, assessing the geometric quality of 3D reconstructions in the absence of ground truth mesh remains a…

The inherent ambiguity in ground-truth annotations of 3D bounding boxes, caused by occlusions, signal missing, or manual annotation errors, can confuse deep 3D object detectors during training, thus deteriorating detection accuracy.…

Monocular 3D lane detection remains challenging due to depth ambiguity and weak geometric constraints. Mainstream methods rely on depth guidance, BEV projection, and anchor- or curve-based heads with simplified physical assumptions,…

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…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

Recent feed-forward networks have achieved remarkable progress in sparse-view 3D reconstruction by predicting dense point maps directly from RGB images. However, they often suffer from geometric inconsistencies and limited fine-grained…

Monocular 3D object detection is challenging due to the lack of accurate depth. However, existing depth-assisted solutions still exhibit inferior performance, whose reason is universally acknowledged as the unsatisfactory accuracy of…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…

Depth perception is a crucial component of monoc-ular 3D detection tasks that typically involve ill-posed problems. In light of the success of sample mining techniques in 2D object detection, we propose a simple yet effective mining…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

We focus on estimating the 3D orientation of the ground plane from a single image. We formulate the problem as an inter-mingled multi-task prediction problem by jointly optimizing for pixel-wise surface normal direction, ground plane…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in terms of evaluation metrics such as the pixel-wise relative error, most methods neglect the…

We propose GO-N3RDet, a scene-geometry optimized multi-view 3D object detector enhanced by neural radiance fields. The key to accurate 3D object detection is in effective voxel representation. However, due to occlusion and lack of 3D…

Monocular 3D object detection is a challenging task in autonomous systems due to the lack of explicit depth information in single-view images. Existing methods often depend on external depth estimators or expensive sensors, which increase…

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…