相关论文: AuxDepthNet: Real-Time Monocular 3D Object Detecti…

As an inherently ill-posed problem, depth estimation from single images is the most challenging part of monocular 3D object detection (M3OD). Many existing methods rely on preconceived assumptions to bridge the missing spatial information…

Perspective projection has been extensively utilized in monocular 3D object detection methods. It introduces geometric priors from 2D bounding boxes and 3D object dimensions to reduce the uncertainty of depth estimation. However, due to…

While DETR-like architectures have demonstrated significant potential for monocular 3D object detection, they are often hindered by a critical limitation: the exclusion of 3D attributes from the bipartite matching process. This exclusion…

Monocular depth estimation is an especially important task in robotics and autonomous driving, where 3D structural information is essential. However, extreme lighting conditions and complex surface objects make it difficult to predict depth…

Unmanned Aerial Vehicles (UAVs) especially drones, equipped with vision techniques have become very popular in recent years, with their extensive use in wide range of applications. Many of these applications require use of computer vision…

Autonomous driving perception tasks rely heavily on cameras as the primary sensor for Object Detection, Semantic Segmentation, Instance Segmentation, and Object Tracking. However, RGB images captured by cameras lack depth information, which…

Effective deep feature extraction via feature-level fusion is crucial for multimodal object detection. However, previous studies often involve complex training processes that integrate modality-specific features by stacking multiple…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…

Current multi-view 3D object detection methods often fail to detect objects in the overlap region properly, and the networks' understanding of the scene is often limited to that of a monocular detection network. Moreover, objects in the…

Object occlusion boundary detection is a fundamental and crucial research problem in computer vision. This is challenging to solve as encountering the extreme boundary/non-boundary class imbalance during training an object occlusion…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…

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…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Multi-camera 3D object detection aims to detect and localize objects in 3D space using multiple cameras, which has attracted more attention due to its cost-effectiveness trade-off. However, these methods often struggle with the lack of…

Real-time monocular 3D object detection remains challenging due to severe depth ambiguity, viewpoint shifts, and the high computational cost of 3D reasoning. Existing approaches either rely on LiDAR or geometric priors to compensate for…

Recent advancements in transformer-based monocular 3D object detection techniques have exhibited exceptional performance in inferring 3D attributes from single 2D images. However, most existing methods rely on resource-intensive transformer…

We present KDFNet, a novel method for 6D object pose estimation from RGB images. To handle occlusion, many recent works have proposed to localize 2D keypoints through pixel-wise voting and solve a Perspective-n-Point (PnP) problem for pose…

In recent years, self-supervised methods for monocular depth estimation has rapidly become an significant branch of depth estimation task, especially for autonomous driving applications. Despite the high overall precision achieved, current…