相关论文: Fully Test-Time Adaptation for Monocular 3D Object…

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…

A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image…

The performance of deep learning models depends heavily on test samples at runtime, and shifts from the training data distribution can significantly reduce accuracy. Test-time adaptation (TTA) addresses this by adapting models during…

Recent advances in unsupervised domain adaptation have significantly improved the recognition accuracy of CNNs by alleviating the domain shift between (labeled) source and (unlabeled) target data distributions. While the problem of…

Estimating 3D bounding boxes from monocular images is an essential component in autonomous driving, while accurate 3D object detection from this kind of data is very challenging. In this work, by intensive diagnosis experiments, we quantify…

Out-of-distribution (OOD) robustness is a critical challenge for modern machine learning systems, particularly as they increasingly operate in multimodal settings involving inputs like video, audio, and sensor data. Currently, many OOD…

Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors from accurately distinguishing glass surfaces. The lack of…

Compared to monocular 3D object detection, stereo-based 3D methods offer significantly higher accuracy but still suffer from high computational overhead and latency. The state-of-the-art stereo 3D detection method achieves twice the…

Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…

We present MonoPSR, a monocular 3D object detection method that leverages proposals and shape reconstruction. First, using the fundamental relations of a pinhole camera model, detections from a mature 2D object detector are used to generate…

3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel semi-supervised method for 3D object detection…

LiDAR-based 3D object detection is crucial for various applications but often experiences performance degradation in real-world deployments due to domain shifts. While most studies focus on cross-dataset shifts, such as changes in…

Machine learning models are prone to making incorrect predictions on inputs that are far from the training distribution. This hinders their deployment in safety-critical applications such as autonomous vehicles and healthcare. The detection…

While monocular depth estimation (MDE) is an important problem in computer vision, it is difficult due to the ambiguity that results from the compression of a 3D scene into only 2 dimensions. It is common practice in the field to treat it…

In monocular depth estimation, uncertainty estimation approaches mainly target the data uncertainty introduced by image noise. In contrast to prior work, we address the uncertainty due to lack of knowledge, which is relevant for the…

Multiple object tracking (MOT) is a fundamental component of perception systems for autonomous driving, and its robustness to unseen conditions is a requirement to avoid life-critical failures. Despite the urge of safety in driving systems,…

One of the key problems in 3D object detection is to reduce the accuracy gap between methods based on LiDAR sensors and those based on monocular cameras. A recently proposed framework for monocular 3D detection based on Pseudo-Stereo has…

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 (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…

While expensive LiDAR and stereo camera rigs have enabled the development of successful 3D object detection methods, monocular RGB-only approaches lag much behind. This work advances the state of the art by introducing MoVi-3D, a novel,…