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

Recent studies in 3D object detection for autonomous vehicles aim to enrich features through the utilization of multi-modal setups or the extraction of local patterns within LiDAR point clouds. However, multi-modal methods face significant…

Height estimation has long been a pivotal topic within measurement and remote sensing disciplines, proving critical for endeavours such as 3D urban modelling, MR and autonomous driving. Traditional methods utilise stereo matching or…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

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…

Accurate 3D lane detection from monocular images presents significant challenges due to depth ambiguity and imperfect ground modeling. Previous attempts to model the ground have often used a planar ground assumption with limited degrees of…

3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus,…

In autonomous driving, accurate 3D lane detection using monocular cameras is important for downstream tasks. Recent CNN and Transformer approaches usually apply a two-stage model design. The first stage transforms the image feature from a…

We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving. In our framework, the monocular camera serves as the fundamental sensor for 2D object proposal and initial 3D bounding box…

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…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…

We present an efficient 3D object detection framework based on a single RGB image in the scenario of autonomous driving. Our efforts are put on extracting the underlying 3D information in a 2D image and determining the accurate 3D bounding…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

We propose DOPS, a fast single-stage 3D object detection method for LIDAR data. Previous methods often make domain-specific design decisions, for example projecting points into a bird-eye view image in autonomous driving scenarios. In…

Image-only and pseudo-LiDAR representations are commonly used for monocular 3D object detection. However, methods based on them have shortcomings of either not well capturing the spatial relationships in neighbored image pixels or being…

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…

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…

Tracking 3D objects accurately and consistently is crucial for autonomous vehicles, enabling more reliable downstream tasks such as trajectory prediction and motion planning. Based on the substantial progress in object detection in recent…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

This paper proposes novel methods to enhance the performance of monocular 3D object detection models by leveraging the generalized feature extraction capabilities of a vision foundation model. Unlike traditional CNN-based approaches, which…

Estimating accurate 3D locations of objects from monocular images is a challenging problem because of lacking depth. Previous work shows that utilizing the object's keypoint projection constraints to estimate multiple depth candidates…