相关论文: MoCA3D: Monocular 3D Bounding Box Prediction in th…

Monocular 3D object detection task aims to predict the 3D bounding boxes of objects based on monocular RGB images. Since the location recovery in 3D space is quite difficult on account of absence of depth information, this paper proposes a…

Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…

Monocular multi-object detection and localization in 3D space has been proven to be a challenging task. The MoNet3D algorithm is a novel and effective framework that can predict the 3D position of each object in a monocular image and draw a…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

We present MonoPSR, a monocular 3D object detection method that leverages proposals and shape reconstruction. First, using the fundamental relations of a pinhole camera model, detections from a mature 2D object detector are used to generate…

Monocular 3D object detection aims to localize 3D bounding boxes in an input single 2D image. It is a highly challenging problem and remains open, especially when no extra information (e.g., depth, lidar and/or multi-frames) can be…

Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…

Existing monocular 3D detectors typically tame the pronounced nonlinear regression of 3D bounding box through decoupled prediction paradigm, which employs multiple branches to estimate geometric center, depth, dimensions, and rotation angle…

We present MoGe, a powerful model for recovering 3D geometry from monocular open-domain images. Given a single image, our model directly predicts a 3D point map of the captured scene with an affine-invariant representation, which is…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a monocular image due to the geometric information loss during imagery projection. We propose…

This paper introduces an approach to produce accurate 3D detection boxes for objects on the ground using single monocular images. We do so by merging 2D visual cues, 3D object dimensions, and ground plane constraints to produce boxes that…

Monocular depth estimation is vital for scene understanding and downstream tasks. We focus on the supervised setup, in which ground-truth depth is available only at training time. Based on knowledge about the high regularity of real 3D…

Despite monocular 3D object detection having recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery, such two-stage methods typically suffer from overfitting and are incapable of…

Monocular 3D object detection has attracted great attention for its advantages in simplicity and cost. Due to the ill-posed 2D to 3D mapping essence from the monocular imaging process, monocular 3D object detection suffers from inaccurate…

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…

The main challenge of monocular 3D object detection is the accurate localization of 3D center. Motivated by a new and strong observation that this challenge can be remedied by a 3D-space local-grid search scheme in an ideal case, we propose…

We present a method to infer 3D pose and shape of vehicles from a single image. To tackle this ill-posed problem, we optimize two-scale projection consistency between the generated 3D hypotheses and their 2D pseudo-measurements.…

Estimating 3D bounding boxes from monocular images is an essential component in autonomous driving, while accurate 3D object detection from this kind of data is very challenging. In this work, by intensive diagnosis experiments, we quantify…

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…