相关论文: fCOP: Focal Length Estimation from Category-level …

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

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…

Most 3D reconstruction methods may only recover scene properties up to a global scale ambiguity. We present a novel approach to single view metrology that can recover the absolute scale of a scene represented by 3D heights of objects or…

Estimation of the human pose from a monocular camera has been an emerging research topic in the computer vision community with many applications. Recently, benefited from the deep learning technologies, a significant amount of research…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

Event cameras are neuromorphically inspired sensors that sparsely and asynchronously report brightness changes. Their unique characteristics of high temporal resolution, high dynamic range, and low power consumption make them well-suited…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

We present a novel method to train machine learning algorithms to estimate scene depths from a single image, by using the information provided by a camera's aperture as supervision. Prior works use a depth sensor's outputs or images of the…

Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…

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…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

3D object detection is still an open problem in autonomous driving scenes. When recognizing and localizing key objects from sparse 3D inputs, autonomous vehicles suffer from a larger continuous searching space and higher fore-background…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

Visual feature pyramid has shown its superiority in both effectiveness and efficiency in a wide range of applications. However, the existing methods exorbitantly concentrate on the inter-layer feature interactions but ignore the intra-layer…

Accurate height estimation from monocular aerial imagery presents a significant challenge due to its inherently ill-posed nature. This limitation is rooted in the absence of adequate geometric constraints available to the model when…

Monocular image-based 3D reconstruction of faces is a long-standing problem in computer vision. Since image data is a 2D projection of a 3D face, the resulting depth ambiguity makes the problem ill-posed. Most existing methods rely on…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

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…