相关论文: Exploring Surround-View Fisheye Camera 3D Object D…

In this research, we propose a new 3D object detector with a trustworthy depth estimation, dubbed BEVDepth, for camera-based Bird's-Eye-View (BEV) 3D object detection. Our work is based on a key observation -- depth estimation in recent…

This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…

More and more research works fuse the LiDAR and camera information to improve the 3D object detection of the autonomous driving system. Recently, a simple yet effective fusion framework has achieved an excellent detection performance,…

Multi-view 3D object detection (MV3D-Det) in Bird-Eye-View (BEV) has drawn extensive attention due to its low cost and high efficiency. Although new algorithms for camera-only 3D object detection have been continuously proposed, most of…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye…

Fisheye cameras suffer from image distortion while having a large field of view(LFOV). And this fact leads to poor performance on some fisheye vision tasks. One of the solutions is to optimize the current vision algorithm for fisheye…

Autonomous driving perceives its surroundings for decision making, which is one of the most complex scenarios in visual perception. The success of paradigm innovation in solving the 2D object detection task inspires us to seek an elegant,…

Three-dimensional object detection is one of the key tasks in autonomous driving. To reduce costs in practice, low-cost multi-view cameras for 3D object detection are proposed to replace the expansive LiDAR sensors. However, relying solely…

Detecting objects in 3D space using multiple cameras, known as Multi-Camera 3D Object Detection (MC3D-Det), has gained prominence with the advent of bird's-eye view (BEV) approaches. However, these methods often struggle when faced with…

Vision-based Bird's-Eye-View (BEV) 3D object detection has recently become popular in autonomous driving. However, objects with a high similarity to the background from a camera perspective cannot be detected well by existing methods. In…

Moving Object Detection (MOD) is an important task for achieving robust autonomous driving. An autonomous vehicle has to estimate collision risk with other interacting objects in the environment and calculate an optional trajectory.…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

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…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

There has been much recent interest in deep learning methods for monocular image based object pose estimation. While object pose estimation is an important problem for autonomous robot interaction with the physical world, and the…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

Images captured by fisheye lenses violate the pinhole camera assumption and suffer from distortions. Rectification of fisheye images is therefore a crucial preprocessing step for many computer vision applications. In this paper, we propose…

SSF3D modified the semi-supervised 3D object detection (SS3DOD) framework, which designed specifically for point cloud data. Leveraging the characteristics of non-coincidence and weak correlation of target objects in point cloud, we adopt a…

Keypoint detection and matching is a fundamental task in many computer vision problems, from shape reconstruction, to structure from motion, to AR/VR applications and robotics. It is a well-studied problem with remarkable successes such as…