相关论文: OpenM3D: Open Vocabulary Multi-view Indoor 3D Obje…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

The labels of monocular 3D object detection (M3OD) are expensive to obtain. Meanwhile, there usually exists numerous unlabeled data in practical applications, and pre-training is an efficient way of exploiting the knowledge in unlabeled…

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…

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…

Understanding objects in 3D from a single image is a cornerstone of spatial intelligence. A key step toward this goal is monocular 3D object detection--recovering the extent, location, and orientation of objects from an input RGB image. To…

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…

In this paper, we investigate Open-Vocabulary 3D Instance Segmentation (OV-3DIS) with free-form language instructions. Earlier works that rely on only annotated base categories for training suffer from limited generalization to unseen novel…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

Template-based 3D object tracking still lacks a high-precision benchmark of real scenes due to the difficulty of annotating the accurate 3D poses of real moving video objects without using markers. In this paper, we present a multi-view…

Estimating the 3D world from 2D monocular images is a fundamental yet challenging task due to the labour-intensive nature of 3D annotations. To simplify label acquisition, this work proposes a novel approach that bridges 2D vision…

We present Voxel Transformer (VoTr), a novel and effective voxel-based Transformer backbone for 3D object detection from point clouds. Conventional 3D convolutional backbones in voxel-based 3D detectors cannot efficiently capture large…

The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

Training a 3D scene understanding model requires complicated human annotations, which are laborious to collect and result in a model only encoding close-set object semantics. In contrast, vision-language pre-training models (e.g., CLIP)…

Despite the remarkable progress in open-vocabulary object detection (OVD), a significant gap remains between the training and testing phases. During training, the RPN and RoI heads often misclassify unlabeled novel-category objects as…

Open-vocabulary 3D scene understanding (OV-3D) aims to localize and classify novel objects beyond the closed set of object classes. However, existing approaches and benchmarks primarily focus on the open vocabulary problem within the…

Hand-object 3D reconstruction has become increasingly important for applications in human-robot interaction and immersive AR/VR experiences. A common approach for object-agnostic hand-object reconstruction from RGB sequences involves a…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Monocular 3D object detection aims to detect objects in a 3D physical world from a single camera. However, recent approaches either rely on expensive LiDAR devices, or resort to dense pixel-wise depth estimation that causes prohibitive…