相关论文: GeoCD: A Differential Local Approximation for Geod…

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…

We present a joint 3D pose and focal length estimation approach for object categories in the wild. In contrast to previous methods that predict 3D poses independently of the focal length or assume a constant focal length, we explicitly…

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…

Recent advances in deep convolutional neural networks (CNNs) have motivated researchers to adapt CNNs to directly model points in 3D point clouds. Modeling local structure has been proven to be important for the success of convolutional…

Monocular 3D object detection poses a significant challenge due to the lack of depth information in RGB images. Many existing methods strive to enhance the object depth estimation performance by allocating additional parameters for object…

With the rapid advancement of 3D sensing technologies, obtaining 3D shape information of objects has become increasingly convenient. Lidar technology, with its capability to accurately capture the 3D information of objects at long…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Channel Charting is a dimensionality reduction technique that learns to reconstruct a low-dimensional, physically interpretable map of the radio environment by taking advantage of similarity relationships found in high-dimensional channel…

Change Detection (CD) enables the identification of alterations between images of the same area captured at different times. However, existing CD methods still struggle to address pseudo changes resulting from domain information differences…

Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

Monocular 3D object detection (Mono3D) has achieved tremendous improvements with emerging large-scale autonomous driving datasets and the rapid development of deep learning techniques. However, caused by severe domain gaps (e.g., the field…

This technical report outlines the top-ranking solution for RoboSense 2025: Track 3, achieving state-of-the-art performance on 3D object detection under various sensor placements. Our submission utilizes GBlobs, a local point cloud feature…

Point clouds or depth images captured by current RGB-D cameras often suffer from low resolution, rendering them insufficient for applications such as 3D reconstruction and robots. Existing point cloud super-resolution (PCSR) methods are…

Nonlinear manifolds are pervasive in deep visual features, where Euclidean distances can misrepresent true similarity. This mismatch is particularly detrimental to prototype-based interpretable fine-grained recognition, where even subtle…

Unsigned Distance Functions (UDFs) can be used to represent non-watertight surfaces in a deep learning framework. However, UDFs tend to be brittle and difficult to learn, in part because the surface is located exactly where the UDF is…

Geodesic distance is the shortest path between two points in a Riemannian manifold. Manifold learning algorithms, such as Isomap, seek to learn a manifold that preserves geodesic distances. However, such methods operate on the ambient…

Volumetric learning underpins many 3D vision tasks such as completion, reconstruction, and mesh generation, yet training objectives still rely on Chamfer Distance (CD) or Earth Mover's Distance (EMD), which fail to balance recall and…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

Manifolds discovered by machine learning models provide a compact representation of the underlying data. Geodesics on these manifolds define locally length-minimising curves and provide a notion of distance, which are key for reduced-order…