相关论文: WARM-3D: A Weakly-Supervised Sim2Real Domain Adapt…

Accurate monocular depth estimation is a fundamental component of vision-based perception systems in intelligent transportation applications. Despite recent progress, unsupervised monocular approaches still suffer from significant…

Weakly supervised monocular 3D detection, while less annotation-intensive, often struggles to capture the global context required for reliable 3D reasoning. Conventional label-efficient methods focus on object-centric features, neglecting…

In this paper, we propose a weakly-supervised approach for 3D object detection, which makes it possible to train a strong 3D detector with position-level annotations (i.e. annotations of object centers). In order to remedy the information…

Monocular 3D object detection poses a significant challenge in 3D scene understanding due to its inherently ill-posed nature in monocular depth estimation. Existing methods heavily rely on supervised learning using abundant 3D labels,…

Simulation data can be accurately labeled and have been expected to improve the performance of data-driven algorithms, including object detection. However, due to the various domain inconsistencies from simulation to reality…

Roadside perception datasets are typically constructed via cooperative labeling between synchronized vehicle and roadside frame pairs. However, real deployment often requires annotation of roadside-only data due to hardware and privacy…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Recently, advancements in vehicle-to-infrastructure communication technologies have elevated the significance of infrastructure-based roadside perception systems for cooperative driving. This paper delves into one of its most pivotal…

3D object detection with surrounding cameras has been a promising direction for autonomous driving. In this paper, we present SimMOD, a Simple baseline for Multi-camera Object Detection, to solve the problem. To incorporate multi-view…

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…

Pseudo-LiDAR 3D detectors have made remarkable progress in monocular 3D detection by enhancing the capability of perceiving depth with depth estimation networks, and using LiDAR-based 3D detection architectures. The advanced stereo 3D…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Unsupervised Domain Adaptation demonstrates great potential to mitigate domain shifts by transferring models from labeled source domains to unlabeled target domains. While Unsupervised Domain Adaptation has been applied to a wide variety of…

While developing perception based deep learning models, the benefit of synthetic data is enormous. However, performance of networks trained with synthetic data for certain computer vision tasks degrade significantly when tested on real…

In this paper, we present a simple yet effective semi-supervised 3D object detector named DDS3D. Our main contributions have two-fold. On the one hand, different from previous works using Non-Maximal Suppression (NMS) or its variants for…

While supervised detection and classification frameworks in autonomous driving require large labelled datasets to converge, Unsupervised Domain Adaptation (UDA) approaches, facilitated by synthetic data generated from photo-real simulated…

Autonomous vehicles rely on camera, LiDAR, and radar sensors to navigate the environment. Adverse weather conditions like snow, rain, and fog are known to be problematic for both camera and LiDAR-based perception systems. Currently, it is…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

Current monocular 3D detectors are held back by the limited diversity and scale of real-world datasets. While data augmentation certainly helps, it's particularly difficult to generate realistic scene-aware augmented data for outdoor…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…