相关论文: LAM3D: Leveraging Attention for Monocular 3D Objec…

Relation context has been proved to be useful for many challenging vision tasks. In the field of 3D object detection, previous methods have been taking the advantage of context encoding, graph embedding, or explicit relation reasoning to…

3D object detection is vital as it would enable us to capture objects' sizes, orientation, and position in the world. As a result, we would be able to use this 3D detection in real-world applications such as Augmented Reality (AR),…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

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…

Perceiving the physical world in 3D is fundamental for self-driving applications. Although temporal motion is an invaluable resource to human vision for detection, tracking, and depth perception, such features have not been thoroughly…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…

While the Self-Attention mechanism in the Transformer model has proven to be effective in many domains, we observe that it is less effective in more diverse settings (e.g. multimodality) due to the varying granularity of each token and the…

Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…

Monocular 3D object detection has long been a challenging task in autonomous driving. Most existing methods follow conventional 2D detectors to first localize object centers, and then predict 3D attributes by neighboring features. However,…

The detection of 3D objects through a single perspective camera is a challenging issue. The anchor-free and keypoint-based models receive increasing attention recently due to their effectiveness and simplicity. However, most of these…

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…

Monocular 3D detection is a challenging task due to the lack of accurate 3D information. Existing approaches typically rely on geometry constraints and dense depth estimates to facilitate the learning, but often fail to fully exploit the…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

Monocular 3D object detection is a crucial and challenging task for autonomous driving vehicle, while it uses only a single camera image to infer 3D objects in the scene. To address the difficulty of predicting depth using only pictorial…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

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,…