相关论文: WildDet3D: Scaling Promptable 3D Detection in the …

Currently, detecting 3D objects in Bird's-Eye-View (BEV) is superior to other 3D detectors for autonomous driving and robotics. However, transforming image features into BEV necessitates special operators to conduct feature sampling. These…

Monocular 3D object detection is an essential task in autonomous driving. However, most current methods consider each 3D object in the scene as an independent training sample, while ignoring their inherent geometric relations, thus…

Scaling up representations for images or text has been extensively investigated in the past few years and has led to revolutions in learning vision and language. However, scalable representation for 3D objects and scenes is relatively…

A reliable and accurate 3D tracking framework is essential for predicting future locations of surrounding objects and planning the observer's actions in numerous applications such as autonomous driving. We propose a framework that can…

In self-supervised monocular depth estimation, the depth discontinuity and motion objects' artifacts are still challenging problems. Existing self-supervised methods usually utilize a single view to train the depth estimation network.…

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…

Instance detection (InsDet) is a long-lasting problem in robotics and computer vision, aiming to detect object instances (predefined by some visual examples) in a cluttered scene. Despite its practical significance, its advancement is…

3D visual grounding (3DVG) involves localizing entities in a 3D scene referred to by natural language text. Such models are useful for embodied AI and scene retrieval applications, which involve searching for objects or patterns using…

To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth,…

Discovering 3D arrangements of objects from single indoor images is important given its many applications including interior design, content creation, etc. Although heavily researched in the recent years, existing approaches break down…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

3D object detection is an indispensable component for scene understanding. However, the annotation of large-scale 3D datasets requires significant human effort. To tackle this problem, many methods adopt weakly supervised 3D object…

In this paper, we propose to learn a deep fitting degree scoring network for monocular 3D object detection, which aims to score fitting degree between proposals and object conclusively. Different from most existing monocular frameworks…

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Transformer-based methods have demonstrated superior performance for monocular 3D object detection recently, which aims at predicting 3D attributes from a single 2D image. Most existing transformer-based methods leverage both visual and…

Monocular 3D object detection offers a cost-effective solution for autonomous driving but suffers from ill-posed depth and limited field of view. These constraints cause a lack of geometric cues and reduced accuracy in occluded or truncated…

This paper studies a new open-set problem, the open-vocabulary category-level object pose and size estimation. Given human text descriptions of arbitrary novel object categories, the robot agent seeks to predict the position, orientation,…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…