相关论文: Monocular Occupancy Prediction for Scalable Indoor…

Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating…

Object localization, and more specifically object pose estimation, in large industrial spaces such as warehouses and production facilities, is essential for material flow operations. Traditional approaches rely on artificial artifacts…

Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…

We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we…

Existing 3D scene flow estimation methods provide the 3D geometry and 3D motion of a scene and gain a lot of interest, for example in the context of autonomous driving. These methods are traditionally based on a temporal series of stereo…

Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajectory prediction of potential instances, current works use…

To identify the location of objects of a particular class, a passive computer vision system generally processes all the regions in an image to finally output few regions. However, we can use structure in the scene to search for objects…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

This technical report summarizes the winning solution for the 3D Occupancy Prediction Challenge, which is held in conjunction with the CVPR 2023 Workshop on End-to-End Autonomous Driving and CVPR 23 Workshop on Vision-Centric Autonomous…

Comprehensive and consistent dynamic scene understanding from camera input is essential for advanced autonomous systems. Traditional camera-based perception tasks like 3D object tracking and semantic occupancy prediction lack either spatial…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

We propose a new single-shot method for multi-person 3D pose estimation in general scenes from a monocular RGB camera. Our approach uses novel occlusion-robust pose-maps (ORPM) which enable full body pose inference even under strong partial…

In this paper, we introduce ProtoOcc, a novel 3D occupancy prediction model designed to predict the occupancy states and semantic classes of 3D voxels through a deep semantic understanding of scenes. ProtoOcc consists of two main…

Self-supervised monocular depth estimation is a salient task for 3D scene understanding. Learned jointly with monocular ego-motion estimation, several methods have been proposed to predict accurate pixel-wise depth without using labeled…

3D semantic occupancy prediction aims to obtain 3D fine-grained geometry and semantics of the surrounding scene and is an important task for the robustness of vision-centric autonomous driving. Most existing methods employ dense grids such…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…

A major challenge in monocular 3D object detection is the limited diversity and quantity of objects in real datasets. While augmenting real scenes with virtual objects holds promise to improve both the diversity and quantity of the objects,…