mlsanityData to 7 Oct 2026

MonoWAD: Weather-Adaptive Diffusion Model for Robust Monocular 3D Object Detection

arXiv 2407.16448 ↗First posted 23 Jul 2024cs.CVcited by 10

On the map: Diffusion models → Image generation, text-to-image and editing

Abstract (arXiv)

Monocular 3D object detection is an important challenging task in autonomous driving. Existing methods mainly focus on performing 3D detection in ideal weather conditions, characterized by scenarios with clear and optimal visibility. However, the challenge of autonomous driving requires the ability to handle changes in weather conditions, such as foggy weather, not just clear weather. We introduce MonoWAD, a novel weather-robust monocular 3D object detector with a weather-adaptive diffusion model. It contains two components: (1) the weather codebook to memorize the knowledge of the clear weather and generate a weather-reference feature for any input, and (2) the weather-adaptive diffusion model to enhance the feature representation of the input feature by incorporating a weather-reference feature. This serves an attention role in indicating how much improvement is needed for the input feature according to the weather conditions. To achieve this goal, we introduce a weather-adaptive enhancement loss to enhance the feature representation under both clear and foggy weather conditions. Extensive experiments under various weather conditions demonstrate that MonoWAD achieves weather-robust monocular 3D object detection. The code and dataset are released at https://github.com/VisualAIKHU/MonoWAD.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Placed in Image generation, text-to-image and editing, one of 14 directions in Diffusion models. Builds on 43 of its 55 references that are in the map. First posted on arXiv 23 Jul 2024.

Builds on

43 of 55 references.

Closest ancestors · 1

Same direction, newest first

  1. 2022Semantic-Conditional Diffusion Networks for Image Captioning6 Dec

Other references · 42

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  3. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,694
  4. 2017Neural Discrete Representation Learningcited by 4,650
  5. 2020Taming Transformers for High-Resolution Image Synthesiscited by 3,229
  6. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  7. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  8. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  9. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
  10. 2018Deep Ordinal Regression Network for Monocular Depth Estimationcited by 721
  11. 2021Label-Efficient Semantic Segmentation with Diffusion Modelscited by 495
  12. 2017Deep Layer Aggregationcited by 436
30 more
  1. 2017Semantic Foggy Scene Understanding with Synthetic Datacited by 401
  2. 2019A Survey of Autonomous Driving: Common Practices and Emerging Technologiescited by 373
  3. 2016Virtual Worlds as Proxy for Multi-Object Tracking Analysiscited by 340
  4. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  5. 20163D Bounding Box Estimation Using Deep Learning and Geometrycited by 277
  6. 2019M3D-RPN: Monocular 3D Region Proposal Network for Object Detectioncited by 251
  7. 2020SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimationcited by 202
  8. 2023Conditional Image-to-Video Generation with Latent Flow Diffusion Modelscited by 180
  9. 2019Learning Depth-Guided Convolutions for Monocular 3D Object Detectioncited by 169
  10. 2021Geometry Uncertainty Projection Network for Monocular 3D Object Detectioncited by 155
  11. 2020MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationshipscited by 153
  12. 2020Kinematic 3D Object Detection in Monocular Videocited by 116
  13. 2020Rethinking Pseudo-LiDAR Representationcited by 109
  14. 2022MonoDTR: Monocular 3D Object Detection with Depth-Aware Transformercited by 108
  15. 2018CubeSLAM: Monocular 3D Object SLAMcited by 101
  16. 2021Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weathercited by 95
  17. 2021AutoShape: Real-Time Shape-Aware Monocular 3D Object Detectioncited by 87
  18. 2021Depth-conditioned Dynamic Message Propagation for Monocular 3D Object Detectioncited by 84
  19. 2021Geometry-based Distance Decomposition for Monocular 3D Object Detectioncited by 83
  20. 2023NeuralField-LDM: Scene Generation with Hierarchical Latent Diffusion Modelscited by 76
  21. 2023RIDCP: Revitalizing Real Image Dehazing via High-Quality Codebook Priorscited by 73
  22. 2021Monocular 3D Object Detection: An Extrinsic Parameter Free Approachcited by 69
  23. 2021Learning Auxiliary Monocular Contexts Helps Monocular 3D Object Detectioncited by 66
  24. 2020DAWN: Vehicle Detection in Adverse Weather Nature Datasetcited by 41
  25. 2021M3DSSD: Monocular 3D Single Stage Object Detectorcited by 39
  26. 2022DID-M3D: Decoupling Instance Depth for Monocular 3D Object Detectioncited by 39
  27. 2022MonoGround: Detecting Monocular 3D Objects from the Groundcited by 37
  28. 2019Robust Semantic Segmentation in Adverse Weather Conditions by means of Sensor Data Fusioncited by 18
  29. 2021ZeroScatter: Domain Transfer for Long Distance Imaging and Vision through Scattering Mediacited by 4
  30. 2022Object Detection in Foggy Scenes by Embedding Depth and Reconstruction into Domain Adaptationcited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 6; 2026: 4.

10 papers.

  1. 2025DriveGEN: Generalized and Robust 3D Detection in Driving via Controllable Text-to-Image Diffusion Generationcited by 13
  2. 2025FutureX: Enhance End-to-End Autonomous Driving via Latent Chain-of-Thought World Modelcited by 7
  3. 2025CHARM3R: Towards Unseen Camera Height Robust Monocular 3D Detectorcited by 4
  4. 2025ClimateGS: Real-Time Climate Simulation with 3D Gaussian Style Transfercited by 2
  5. 2026MonoSAOD: Monocular 3D Object Detection with Sparsely Annotated Labelcited by 1
  6. 2025SpikeSMOKE: Spiking Neural Networks for Monocular 3D Object Detection with Cross-Scale Gated Codingcited by 0
  7. 2025Auto-Vocabulary 3D Object Detectioncited by 0
  8. 2026UniDA3D: A Unified Domain-Adaptive Framework for Multi-View 3D Object Detectioncited by 0
  9. 2026A Data Efficiency Study of Synthetic Fog for Object Detection Using the Clear2Fog Pipelinecited by 0
  10. 2026PersonaDrive: Controllable Trajectory Prediction with Multi-Dimensional Driving Personascited by 0

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  2. 2026Open-Weather Robust 3D Detection via Dual-Critic Diffusion Alignment
  3. 2025Object detection in adverse weather conditions for autonomous vehicles using Instruct Pix2Pix
  4. 2023WEDGE: A multi-weather autonomous driving dataset built from generative vision-language models
  5. 2026Cyclone: Diffusion Model for Cycle-Consistent Weather Editing from Unpaired Driving Data
  6. 2026AW-MoE: All-Weather Mixture of Experts for Robust Multi-Modal 3D Object Detection
  7. 2025Always Clear Depth: Robust Monocular Depth Estimation under Adverse Weather
  8. 2025BEVDiffuser: Plug-and-Play Diffusion Model for BEV Denoising with Ground-Truth Guidance