相关论文: Optical Lens Attack on Deep Learning Based Monocul…

Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power…

As processing power has become more available, more human-like artificial intelligences are created to solve image processing tasks that we are inherently good at. As such we propose a model that estimates depth from a monocular image. Our…

We tackle the problem of monocular 3D object detection across different sensors, environments, and camera setups. In this paper, we introduce a novel unsupervised domain adaptation approach, MonoCT, that generates highly accurate pseudo…

Camera-based perception is critical to autonomous driving yet remains vulnerable to task-specific adversarial manipulations in object detection and monocular depth estimation. Most existing 2D/3D attacks are developed in task silos, lack…

Monocular depth estimation (MDE) has widely applicable but remains highly challenging due to the inherently ill-posed nature of reconstructing 3D scenes from single 2D images. Modern Vision Foundation Models (VFMs), pre-trained on…

Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…

Recent progress in 3D object detection from single images leverages monocular depth estimation as a way to produce 3D pointclouds, turning cameras into pseudo-lidar sensors. These two-stage detectors improve with the accuracy of the…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

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…

Recent advances in machine learning, especially techniques such as deep neural networks, are enabling a range of emerging applications. One such example is autonomous driving, which often relies on deep learning for perception. However,…

Monocular depth foundation models generalize well across scenes, yet they are typically optimized with uniform pixel-wise objectives that do not distinguish user-specified or task-relevant target regions from the surrounding context. We…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Monocular depth estimation is often described as an ill-posed and inherently ambiguous problem. Estimating depth from 2D images is a crucial step in scene reconstruction, 3Dobject recognition, segmentation, and detection. The problem can be…

Multi-Modal Language Models (MLLMs) have transformed artificial intelligence by combining visual and text data, making applications like image captioning, visual question answering, and multi-modal content creation possible. This ability to…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…

The ubiquitous multi-camera setup on modern autonomous vehicles provides an opportunity to construct surround-view depth. Existing methods, however, either perform independent monocular depth estimations on each camera or rely on…