Monocular 3D object detection is an essential perception task for autonomous driving. However, the high reliance on large-scale labeled data make it costly and time-consuming during model optimization. To reduce such over-reliance on human annotations, we propose Mix-Teaching, an effective semi-supervised learning framework applicable to employ both labeled and unlabeled images in training stage. Mix-Teaching first generates pseudo-labels for unlabeled images by self-training. The student model is then trained on the mixed images possessing much more intensive and precise labeling by merging instance-level image patches into empty backgrounds or labeled images. This is the first to break the image-level limitation and put high-quality pseudo labels from multi frames into one image for semi-supervised training. Besides, as a result of the misalignment between confidence score and localization quality, it's hard to discriminate high-quality pseudo-labels from noisy predictions using only confidence-based criterion. To that end, we further introduce an uncertainty-based filter to help select reliable pseudo boxes for the above mixing operation. To the best of our knowledge, this is the first unified SSL framework for monocular 3D object detection. Mix-Teaching consistently improves MonoFlex and GUPNet by significant margins under various labeling ratios on KITTI dataset. For example, our method achieves around +6.34% AP@0.7 improvement against the GUPNet baseline on validation set when using only 10% labeled data. Besides, by leveraging full training set and the additional 48K raw images of KITTI, it can further improve the MonoFlex by +4.65% improvement on AP@0.7 for car detection, reaching 18.54% AP@0.7, which ranks the 1st place among all monocular based methods on KITTI test leaderboard. The code and pretrained models will be released at https://github.com/yanglei18/Mix-Teaching.
MonoTAKD: Teaching Assistant Knowledge Distillation for Monocular 3D Object Detection
National Yang Ming Chiao Tung University（国立阳明交通大学）；University of Washington（华盛顿大学）；University of Southern California（南加州大学）；Cisco Systems, Inc.（思科系统公司）；Taijitu AI, Inc.（太极图人工智能公司）；National Taiwan Normal University（国立台湾师范大学）；National Taiwan University（国立台湾大学）
PoseMoE: Mixture-of-Experts Network for Monocular 3D Human Pose Estimation
State Key Laboratory of General Artificial Intelligence, Peking University, Shenzhen Graduate School（国家通用人工智能重点实验室，北京大学深圳研究生院）；College of Computing and Data Science, Nanyang Technological University（计算与数据科学学院，南洋理工大学）；Department of Computer Science and Engineering, University at Buffalo, State University of New York（计算机科学与工程系，布法罗大学，纽约州立大学）
3D human pose estimation from a monocular image or 2D joints is an ill-posed problem because of depth ambiguity and occluded joints. We argue that 3D human pose estimation from a monocular input is an inverse problem where multiple feasible solutions can exist. In this paper, we propose a novel approach to generate multiple feasible hypotheses of the 3D pose from 2D joints.In contrast to existing deep learning approaches which minimize a mean square error based on an unimodal Gaussian distribution, our method is able to generate multiple feasible hypotheses of 3D pose based on a multimodal mix…
Leibniz University Hannover（汉诺威莱布尼茨大学）；UBC Vancouver（不列颠哥伦比亚大学温哥华校区）
Human pose estimation from single images is a challenging problem in computer vision that requires large amounts of labeled training data to be solved accurately. Unfortunately, for many human activities (\eg outdoor sports) such training data does not exist and is hard or even impossible to acquire with traditional motion capture systems. We propose a self-supervised approach that learns a single image 3D pose estimator from unlabeled multi-view data. To this end, we exploit multi-view consistency constraints to disentangle the observed 2D pose into the underlying 3D pose and camera rotation.…
MonoPRIO: Adaptive Prior Conditioning for Unified Monocular 3D Object Detection
organization= Department of Computer Science, Loughborough University , addressline= Epinal Way , city= Loughborough , postcode= LE11 3TU , state= Leicestershire , country= United Kingdom；organization= European Center for Risk \& Resilience Studies, University of Southern Denmark , addressline= Degnevej 14 , city= Esbjerg , postcode= 6705 , country= Denmark
Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual object occluded by complex objects such as trees, bushes etc. In this paper, we propose a novel occlusion handling method for real-time, outdoor, and omni-directional mixed reality system using only the information from a monocular image sequence. We first present a semantic segmentation scheme for predicting the amount of visibility for different type of ob…
S$^2$ME: Spatial-Spectral Mutual Teaching and Ensemble Learning for Scribble-supervised Polyp Segmentation
The Chinese University of Hong Kong（香港中文大学）；National University of Singapore（新加坡国立大学）；Hubei University of Technology（湖北工业大学）；University College London（伦敦大学学院）
Intelligent Systems Lab, Intel Labs（英特尔实验室智能系统实验室）；Institute of Geodesy and Photogrammetry, ETH Zürich（苏黎世联邦理工学院大地测量与摄影测量研究所）
The success of monocular depth estimation relies on large and diverse training sets. Due to the challenges associated with acquiring dense ground-truth depth across different environments at scale, a number of datasets with distinct characteristics and biases have emerged. We develop tools that enable mixing multiple datasets during training, even if their annotations are incompatible. In particular, we propose a robust training objective that is invariant to changes in depth range and scale, advocate the use of principled multi-objective learning to combine data from different sources, and hi…
Harbin Institute of Technology（哈尔滨工业大学）；University of Science and Technology of China（中国科学技术大学）；SenseTime Research（商汤科技研究院）
Monocular 3D object detection (Mono3D) has achieved unprecedented success with the advent of deep learning techniques and emerging large-scale autonomous driving datasets. However, drastic performance degradation remains an unwell-studied challenge for practical cross-domain deployment as the lack of labels on the target domain. In this paper, we first comprehensively investigate the significant underlying factor of the domain gap in Mono3D, where the critical observation is a depth-shift issue caused by the geometric misalignment of domains. Then, we propose STMono3D, a new self-teaching fram…
We consider the task of estimating the 3D orientation of an object of known category given an image of the object and a bounding box around it. Recently, CNN-based regression and classification methods have shown significant performance improvements for this task. This paper proposes a new CNN-based approach to monocular orientation estimation that advances the state of the art in four different directions. First, we take into account the Riemannian structure of the orientation space when designing regression losses and nonlinear activation functions. Second, we propose a mixed Riemannian regr…
Carnegie Mellon University（卡内基梅隆大学）；Chinese Academy of Sciences（中国科学院）
We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set of camera poses and landmarks is essential. In previous monocular unsupervised learning frameworks, only part of the photometric and geometric constraints within a sequence are used as supervisory signals. This may result in a short baseline and overfitting. Besides, previous works generally estimate a low resolution depth from a low resolution impute image. …
EndoGMDE: Generalizable Monocular Depth Estimation with Mixture of Low-Rank Experts for Diverse Endoscopic Scenes
Department of Electronic Engineering, The Chinese University of Hong Kong（香港中文大学电子工程系）；College of Biomedical Engineering, Fudan University（复旦大学生物医学工程学院）；Shanghai Key laboratory of Medical Image Computing and Computer Assisted Intervention（上海医学影像计算与计算机辅助手术重点实验室）；ENT Institute and Department of Otolaryngology, Eye & ENT Hospital of Fudan University（复旦大学眼耳鼻喉科医院耳鼻喉科及耳鼻喉科研究所）
Recent advances in self-supervised learning havedemonstrated that it is possible to learn accurate monoculardepth reconstruction from raw video data, without using any 3Dground truth for supervision. However, in robotics applications,multiple views of a scene may or may not be available, depend-ing on the actions of the robot, switching between monocularand multi-view reconstruction. To address this mixed setting,we proposed a new approach that extends any off-the-shelfself-supervised monocular depth reconstruction system to usemore than one image at test time. Our method builds on astandard p…
The University of Adelaide（阿德莱德大学）；Adobe Research（Adobe研究院）
Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in mixed-data depth prediction training, and possible unknown camera focal length. We investigate this problem in detail, and propose a two-stage framework that first predicts depth up to an unknown scale and shift from a single monocular image, and then use 3D point cloud encoders to predict the missing depth shift and focal length that allow us to recover a …
UNO: Unified Self-Supervised Monocular Odometry for Platform-Agnostic Deployment
Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University（医学机器人研究所和自动化系，上海交通大学）；The Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University（先进机器人技术创新中心（CARTIN），电子与电气工程学院，南洋理工大学）；School of Electrical and Electronic Engineering, Nanyang Technological University（电子与电气工程学院，南洋理工大学）；Singapore State Grid Intelligence Technology CO., LTD.（新加坡国网智能技术有限公司）
This work presents Depth Anything V2. Without pursuing fancy techniques, we aim to reveal crucial findings to pave the way towards building a powerful monocular depth estimation model. Notably, compared with V1, this version produces much finer and more robust depth predictions through three key practices: 1) replacing all labeled real images with synthetic images, 2) scaling up the capacity of our teacher model, and 3) teaching student models via the bridge of large-scale pseudo-labeled real images. Compared with the latest models built on Stable Diffusion, our models are significantly more e…
Q-SiT: Teaching LMMs for Image Quality Scoring and Interpreting
Institute of Image Communication and Network Engineering, Shanghai Jiao Tong University（上海交通大学图像通信与网络工程研究所）；S-Lab, Nanyang Technological University（南洋理工大学S-Lab实验室）；School of Computer Science and Engineering, Nanyang Technological University（南洋理工大学计算机科学与工程学院）
In Virtual, augmented, and mixed reality, the use of hand gestures is increasingly becoming popular to reduce the difference between the virtual and real world. The precise location of the fingertip is essential/crucial for a seamless experience. Much of the research work is based on using depth information for the estimation of the fingertips position. However, most of the work using RGB images for fingertips detection is limited to a single finger. The detection of multiple fingertips from a single RGB image is very challenging due to various factors. In this paper, we propose a deep neural …
Zenuity（泽纽伊提）；Chalmers University of Technology（查尔姆斯理工大学）
Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not directly measure the distance to objects. In this paper, we aim at filling this gap by developing a multi-object tracking algorithm that takes an image as input and produces trajectories of detected objects in a world coordinate system. We solve this by using a deep neural network trained to detect and estimate the distance to objects from a single input image…
