相关论文: Roadside Monocular 3D Detection Prompted by 2D Det…

Accurate 3D lane detection from monocular images presents significant challenges due to depth ambiguity and imperfect ground modeling. Previous attempts to model the ground have often used a planar ground assumption with limited degrees of…

Perspective projection has been extensively utilized in monocular 3D object detection methods. It introduces geometric priors from 2D bounding boxes and 3D object dimensions to reduce the uncertainty of depth estimation. However, due to…

Multi-camera 3D object detection aims to detect and localize objects in 3D space using multiple cameras, which has attracted more attention due to its cost-effectiveness trade-off. However, these methods often struggle with the lack of…

In this paper, we focus on the challenging task of monocular 3D lane detection. Previous methods typically adopt inverse perspective mapping (IPM) to transform the Front-Viewed (FV) images or features into the Bird-Eye-Viewed (BEV) space…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

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…

Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from…

In this technical report, we present our solution, dubbed MV-FCOS3D++, for the Camera-Only 3D Detection track in Waymo Open Dataset Challenge 2022. For multi-view camera-only 3D detection, methods based on bird-eye-view or 3D geometric…

Monocular 3D object detection aims to detect objects in a 3D physical world from a single camera. However, recent approaches either rely on expensive LiDAR devices, or resort to dense pixel-wise depth estimation that causes prohibitive…

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 a fundamental and challenging task for 3D scene understanding, and the monocular-based methods can serve as an economical alternative to the stereo-based or LiDAR-based methods. However, accurately detecting objects…

In autonomous driving, accurate 3D lane detection using monocular cameras is important for downstream tasks. Recent CNN and Transformer approaches usually apply a two-stage model design. The first stage transforms the image feature from a…

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…

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 remains challenging because metric size and depth are underdetermined by single-view evidence, particularly under occlusion, truncation, and projection-induced scale-depth ambiguity. Although recent methods…

In this paper, we propose an advanced approach in targeting the problem of monocular 3D lane detection by leveraging geometry structure underneath the process of 2D to 3D lane reconstruction. Inspired by previous methods, we first analyze…

Wide-range and fine-grained vehicle detection plays a critical role in enabling active safety features in intelligent driving systems. However, existing vehicle detection methods based on rectangular bounding boxes (BBox) often struggle…

Real-time monocular 3D object detection remains challenging due to severe depth ambiguity, viewpoint shifts, and the high computational cost of 3D reasoning. Existing approaches either rely on LiDAR or geometric priors to compensate for…

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…

Monocular imaging of animals inherently reduces 3D structures to 2D projections. Detection algorithms lead to 2D bounding boxes that lack information about animal's orientation relative to the camera. To build 3D detection methods for RGB…