相关论文: HeightFormer: A Semantic Alignment Monocular 3D Ob…

Although deep-learning based methods for monocular pedestrian detection have made great progress, they are still vulnerable to heavy occlusions. Using multi-view information fusion is a potential solution but has limited applications, due…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver,…

Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstacle detection and tracking problems. For the detection task,…

In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…

Roadside camera-driven 3D object detection is a crucial task in intelligent transportation systems, which extends the perception range beyond the limitations of vision-centric vehicles and enhances road safety. While previous studies have…

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle…

3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…

The recent advances in query-based multi-camera 3D object detection are featured by initializing object queries in the 3D space, and then sampling features from perspective-view images to perform multi-round query refinement. In such a…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

Drones equipped with cameras can significantly enhance human ability to perceive the world because of their remarkable maneuverability in 3D space. Ironically, object detection for drones has always been conducted in the 2D image space,…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

Monocular 3D object detection is an essential task in autonomous driving. However, most current methods consider each 3D object in the scene as an independent training sample, while ignoring their inherent geometric relations, thus…

3D lane detection is an integral part of autonomous driving systems. Previous CNN and Transformer-based methods usually first generate a bird's-eye-view (BEV) feature map from the front view image, and then use a sub-network with BEV…

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…

Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…