相关论文: RePLAy: Remove Projective LiDAR Depthmap Artifacts…

In this paper, we strive for solving the ambiguities arisen by the astoundingly high density of raw PseudoLiDAR for monocular 3D object detection for autonomous driving. Without much computational overhead, we propose a supervised and an…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

In autonomous driving scenarios, accurate perception is becoming an even more critical task for safe navigation. While LiDAR provides precise spatial data, its inherent sparsity makes it difficult to detect small or distant objects.…

LiDAR is a crucial sensor in autonomous driving, commonly used alongside cameras. By exploiting this camera-LiDAR setup and recent advances in image representation learning, prior studies have shown the promising potential of image-to-LiDAR…

Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…

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…

Camera-based 3D object detectors are welcome due to their wider deployment and lower price than LiDAR sensors. We first revisit the prior stereo detector DSGN for its stereo volume construction ways for representing both 3D geometry and…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures additional data, including reflectivity or intensity values.…

Given the lidar measurements from an autonomous vehicle, we can project the points and generate a sparse depth image. Depth completion aims at increasing the resolution of such a depth image by infilling and interpolating the sparse depth…

LiDAR depth completion is a task that predicts depth values for every pixel on the corresponding camera frame, although only sparse LiDAR points are available. Most of the existing state-of-the-art solutions are based on deep neural…

In this paper we propose an approach for monocular 3D object detection from a single RGB image, which leverages a novel disentangling transformation for 2D and 3D detection losses and a novel, self-supervised confidence score for 3D…

Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly…

This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment.…

Stereo vision between images faces a range of challenges, including occlusions, motion, and camera distortions, across applications in autonomous driving, robotics, and face analysis. Due to parameter sensitivity, further complications…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

For autonomous vehicles, driving safely is highly dependent on the capability to correctly perceive the environment in 3D space, hence the task of 3D object detection represents a fundamental aspect of perception. While 3D sensors deliver…