相关论文: StixelNExT: Toward Monocular Low-Weight Perception…

Large vision and language models learned directly through image-text associations often lack detailed visual substantiation, whereas image segmentation tasks are treated separately from recognition, supervisedly learned without…

Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

In this article, we present a very lightweight neural network architecture, trained on stereo data pairs, which performs view synthesis from one single image. With the growing success of multi-view formats, this problem is indeed…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

As a computer vision task, automatic object segmentation remains challenging in specialized image domains without massive labeled data, such as synthetic aperture sonar images, remote sensing, biomedical imaging, etc. In any domain,…

This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…

Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…

Monocular 3D object detection is an essential perception task for autonomous driving. However, the high reliance on large-scale labeled data make it costly and time-consuming during model optimization. To reduce such over-reliance on human…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

Monocular 3D object detection aims to localize 3D bounding boxes in an input single 2D image. It is a highly challenging problem and remains open, especially when no extra information (e.g., depth, lidar and/or multi-frames) can be…

We examine how the saccade mechanism from biological vision can be used to make deep neural networks more efficient for classification and object detection problems. Our proposed approach is based on the ideas of attention-driven visual…