相关论文: CARLA Drone: Monocular 3D Object Detection from a …

Accurate vision-based speed estimation is much more cost-effective than traditional methods based on radar or LiDAR. However, it is also challenging due to the limitations of perspective projection on a discrete sensor, as well as the high…

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…

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…

Although the majority of recent autonomous driving systems concentrate on developing perception methods based on ego-vehicle sensors, there is an overlooked alternative approach that involves leveraging intelligent roadside cameras to help…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Monocular 3D object detection offers a cost-effective solution for autonomous driving but suffers from ill-posed depth and limited field of view. These constraints cause a lack of geometric cues and reduced accuracy in occluded or truncated…

Monocular 3D object detection (Mono3D) is a fundamental computer vision task that estimates an object's class, 3D position, dimensions, and orientation from a single image. Its applications, including autonomous driving, augmented reality,…

Taking advantage of multi-view aggregation presents a promising solution to tackle challenges such as occlusion and missed detection in multi-object tracking and detection. Recent advancements in multi-view detection and 3D object…

Computer vision-based object detection is a key modality for advanced Detect-And-Avoid systems that allow for autonomous flight missions of UAVs. While standard object detection frameworks do not predict the actual depth of an object, this…

Vision-centric autonomous driving has demonstrated excellent performance with economical sensors. As the fundamental step, 3D perception aims to infer 3D information from 2D images based on 3D-2D projection. This makes driving perception…

Relying on monocular image data for precise 3D object detection remains an open problem, whose solution has broad implications for cost-sensitive applications such as traffic monitoring. We present UrbanNet, a modular architecture for long…

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),…

Monocular 3D object detection is an essential component in autonomous driving while challenging to solve, especially for those occluded samples which are only partially visible. Most detectors consider each 3D object as an independent…

Recently, 3D object detection algorithms based on radar and camera fusion have shown excellent performance, setting the stage for their application in autonomous driving perception tasks. Existing methods have focused on dealing with…

Research on monocular 3D object detection is being actively studied, and as a result, performance has been steadily improving. However, 3D object detection performance is significantly reduced when applied to a camera system different from…

Monocular 3D object detection is challenging due to the lack of accurate depth. However, existing depth-assisted solutions still exhibit inferior performance, whose reason is universally acknowledged as the unsatisfactory accuracy of…

The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…

In this paper we propose a novel 3D single-shot object detection method for detecting vehicles in monocular RGB images. Our approach lifts 2D detections to 3D space by predicting additional regression and classification parameters and hence…

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.…

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…