相关论文: SPAN: Spatial-Projection Alignment for Monocular 3…

Monocular 3D object detection is an essential component in autonomous driving while challenging to solve, especially for those occluded samples which are only partially visible. Most detectors consider each 3D object as an independent…

Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors from accurately distinguishing glass surfaces. The lack of…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

Reconstructing 3D shape and pose of static objects from a single image is an essential task for various industries, including robotics, augmented reality, and digital content creation. This can be done by directly predicting 3D shape in…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box as an important component. Four edges of…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…

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…

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…

We introduce a framework for multi-camera 3D object detection. In contrast to existing works, which estimate 3D bounding boxes directly from monocular images or use depth prediction networks to generate input for 3D object detection from 2D…

LiDAR and cameras are complementary sensors for 3D object detection in autonomous driving. However, it is challenging to explore the unnatural interaction between point clouds and images, and the critical factor is how to conduct feature…

The detection of 3D objects through a single perspective camera is a challenging issue. The anchor-free and keypoint-based models receive increasing attention recently due to their effectiveness and simplicity. However, most of these…

We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…

Monocular 3D lane detection is challenged by aleatoric uncertainty arising from inherent observation noise. Existing methods rely on simplified geometric assumptions, such as independent point predictions or global planar modeling, failing…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

The introduction of DETR represents a new paradigm for object detection. However, its decoder conducts classification and box localization using shared queries and cross-attention layers, leading to suboptimal results. We observe that…

Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…

Monocular 3D object detection aims to predict the object location, dimension and orientation in 3D space alongside the object category given only a monocular image. It poses a great challenge due to its ill-posed property which is…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…