Monocular 3D Object Detection

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Overview

Monocular 3D object detection uses images from a single camera to predict 3D object boxes, including distance, size, and orientation—useful when LiDAR or stereo cameras are unavailable. Approaches estimate depth directly, predict projected box corners, lift image features into bird’s-eye-view or 3D representations, and use geometric priors, temporal video cues, or distillation from stronger models. KITTI, Waymo, and nuScenes are common benchmarks, while newer work tests cross-camera transfer, open-vocabulary recognition, and settings such as aerial wildlife detection. A central challenge is that a single image leaves depth and true object size ambiguous, so improved geometric localization must be balanced against robustness to unfamiliar cameras, scenes, and categories.

Latest papers

CardsList

22 papers1 paper in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

  1. MonoMIP: Multi-Height Inverse Perspective Mapping for Monocular 3D Object Detection

    Oct 13, 2026Emir Ulurak, Furkan KıraçMonocular 3D Object DetectionAutonomous Driving

    Ozyegin University, Istanbul, Turkey

  2. Infrastructure-based Monocular 3D Vehicle Localization Framework with Experimental Validation

    Sep 1, 2026Akos T. Kopeczi-Bocz, Tian Mi, Gabor Orosz +1Autonomous Driving PerceptionMonocular 3D Object Detection

    Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, H-1111, Hungary · Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA · Department of Mechanical Engineering, the Department of Civil and Environmental Engineering, and the Transportation Research Institute at the University of Michigan, Ann Arbor, MI 48109, USA

  3. OV3D-Bench: A Diagnostic Benchmark for Open-Vocabulary Monocular 3D Detection

    Aug 17, 2026Mariia Gladkova, Neehar Peri, Ishan Khatri +2Open-Vocabulary Object DetectionMonocular 3D Object Detection

    Technical University of Munich · Carnegie Mellon University · StackAV

  4. MAGneT-3D: Monocular and Domain-Generalizable Temporal 3D Detection

    Aug 14, 2026Mohamed Kotb, Johannes Meier, Christoph Reich +33D Object DetectionMonocular 3D Object Detection

    TU Munich · ETH Zurich · MCML +4

  5. Map-Det3D: Metric Feed-Forward 3D Reconstruction Prior for Multi-view 3D Object Detection from Streaming Inputs

    Aug 12, 2026Yung-Hsu Yang, Luigi Piccinelli, Samuel Rota Bulò +7Multi-View 3D Object Detection3D Object Detection

    ETH Zürich, Switzerland · Meta Reality Labs Zürich, Switzerland · University of Bonn, Germany

  6. RefineAny3D: Depth Refinement as Semantic Alignment for Monocular 3D Detection

    Aug 10, 2026Zhihao Zhang, Gengwei Zhang, Tianlong Chen +13D Object DetectionMonocular 3D Object Detection

    Michigan State University · University of North Carolina at Chapel Hill

  7. WildBox: A Dataset and Benchmark for Aerial Monocular 3D Detection of African Savanna Wildlife

    Jun 19, 2026Vandita Shukla, Kilian Meier, Lucie Laporte-Devylder +6Monocular Depth Estimation3D Object Detection

    13D Optical Metrology Unit, Fondazione Bruno Kessler, Trento, Italy · 2Computer Vision and Machine Learning Systems group, Institute for Geoinformatics, University of Muenster, Muenster, Germany · School of Civil, Aerospace and Design Engineering, University of Bristol, Bristol, UK +6

  8. SPARK: Low Latency Single-Camera 3D Pose Estimation for Autonomous Racing using Keypoints

    Jun 16, 2026Dominic Ebner, Markus LienkampObject Pose EstimationAutonomous Racing

    Technical University of Munich, Germany; School of Engineering & Design, Department of Mobility Systems Engineering, Institute of Automotive Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI)

  9. MonoPRIO: Adaptive Prior Conditioning for Unified Monocular 3D Object Detection

    May 14, 2026Leon Davies, Qinggang Meng, Mohamad Saada +23D Object DetectionMonocular 3D Object Detection

    Department of Computer Science, Loughborough University, Epinal Way, Loughborough, LE11 3TU, Leicestershire, United Kingdom · European Center for Risk & Resilience Studies, University of Southern Denmark, Degnevej 14, Esbjerg, 6705, Denmark

  10. Towards Accurate Single Panoramic 3D Detection: A Semantic Gaussian Centric Approach

    May 14, 2026Kanglin Ning, Yiran Zhao, Wenrui Li +33D Gaussian Splatting3D Object Detection

    Harbin Institute of Technology · The Suzhou Research Institute of HIT · The PengChengLab

  11. SemLT3D: Semantic-Guided Expert Distillation for Camera-only Long-Tailed 3D Object Detection

    Apr 20, 2026Hao Vo, Khoa Vo, Thinh Phan +5Autonomous Driving Perception3D Object Detection

    AICV Lab, University of Arkansas, USA · University of Utah, USA · University of Houston, USA +1

  12. Adding Another Dimension to Image-based Animal Detection

    Apr 10, 2026Vandita Shukla, Fabio Remondino, Benjamin Risse3D Object DetectionMonocular 3D Object Detection

  13. WildDet3D: Scaling Promptable 3D Detection in the Wild

    Apr 9, 2026Weikai Huang, Jieyu Zhang, Sijun Li +153D Object DetectionMonocular 3D Object Detection

    Allen Institute for AI · University of Washington · Johns Hopkins University +2

  14. MonoSAOD: Monocular 3D Object Detection with Sparsely Annotated Label

    Apr 2, 2026Junyoung Jung, Seokwon Kim, Jung Uk Kim3D Object DetectionMonocular 3D Object Detection

    Kyung Hee University

  15. Towards Intrinsic-Aware Monocular 3D Object Detection

    Mar 28, 2026Zhihao Zhang, Abhinav Kumar, Xiaoming Liu3D Object DetectionMonocular 3D Object Detection

    Michigan State University · University of North Carolina at Chapel Hill

  16. MoCA3D: Monocular 3D Bounding Box Prediction in the Image Plane

    Mar 20, 2026Changwoo Jeon, Rishi Upadhyay, Achuta Kadambi3D Object DetectionMonocular 3D Object Detection

    University of California, Los Angeles · Yonsei University

  17. VirPro: Visual-referred Probabilistic Prompt Learning for Weakly-Supervised Monocular 3D Detection

    Mar 18, 2026Chupeng Liu, Jiyong Rao, Shangquan Sun +23D Object DetectionMonocular 3D Object Detection

    The University of Sydney · Tongji University · Nanyang Technological University

  18. Selective Transfer Learning of Cross-Modality Distillation for Monocular 3D Object Detection

    Mar 8, 2026Rui Ding, Meng Yang, Nanning ZhengMonocular 3D Object DetectionCross-Modal Knowledge Distillation

    Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an 710049, P.R.China.

  19. Object-Scene-Camera Decomposition and Recomposition for Data-Efficient Monocular 3D Object Detection

    Feb 24, 2026Zhaonian Kuang, Rui Ding, Meng Yang +2Monocular 3D Object DetectionData Augmentation

    Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, P.R.China · Intelligent Transportation Thrust of the Systems Hub, Hong Kong University of Science and Technology (GZ), Guangzhou, P.R.China · Amazon Alexa AI, Bellevue, Washington, United States

  20. Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments

    Feb 16, 2026Ruofeng Wei, Kai Chen, Yui Lun Ng +7Robotic EndoscopyRobotic Perception

    Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, China. · Department of Mechanical Engineering, The University of Hong Kong, China. · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, and also with the Department of Mechanical Engineering, The University of Hong Kong.

  21. LeAD-M3D: Leveraging Asymmetric Distillation for Real-Time Monocular 3D Detection

    Dec 5, 2025Johannes Meier, Jonathan Michel, Oussema Dhaouadi +7Efficient Object DetectionReal-Time Object Detection

    DeepScenario · ETH Zurich · TU Munich +5

  22. PLOT: Pseudo-Labeling via Object Tracking for Monocular 3D Object Detection

    Jul 3, 2025Seokyeong Lee, Sithu Aung, Junyong Choi +33D Object DetectionPseudo-Labeling

    KAIST AI · VRG, FEE, Czech Technical University in Prague · Samsung Research +3