文章目录PrefaceAbstractContributionsPipelineProblemDefinitionDecoupledRepresentationsofObjectsInside&OutsideObjectsEdgeFusionLossVisualPropertiesRegression2DDetectionDimensionEstimationOrientationEstimationKeypointEstimationAdaptiveDepthEnsembleDepthFromKeypointsUncertaintyGuidedEnsembleRunCodeReference