Related papers: Occlusion Guided Scene Flow Estimation on 3D Point…
Despite the significant progress that has been made on estimating optical flow recently, most estimation methods, including classical and deep learning approaches, still have difficulty with multi-scale estimation, real-time computation,…
Scene flow is the task of estimating 3D motion vectors to individual points of a dynamic 3D scene. Motion vectors have shown to be beneficial for downstream tasks such as action classification and collision avoidance. However, data…
A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…
Given two consecutive frames from a pair of stereo cameras, 3D scene flow methods simultaneously estimate the 3D geometry and motion of the observed scene. Many existing approaches use superpixels for regularization, but may predict…
In this paper, we proposed an unsupervised learning method for estimating the optical flow between video frames, especially to solve the occlusion problem. Occlusion is caused by the movement of an object or the movement of the camera,…
Existing optical flow methods are erroneous in challenging scenes, such as fog, rain, and night because the basic optical flow assumptions such as brightness and gradient constancy are broken. To address this problem, we present an…
In this paper, we propose a Point-Voxel Recurrent All-Pairs Field Transforms (PV-RAFT) method to estimate scene flow from point clouds. Since point clouds are irregular and unordered, it is challenging to efficiently extract features from…
This work proposes a metric learning approach for self-supervised scene flow estimation. Scene flow estimation is the task of estimating 3D flow vectors for consecutive 3D point clouds. Such flow vectors are fruitful, \eg for recognizing…
We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…
Consistency Guided Scene Flow Estimation (CGSF) is a self-supervised framework for the joint reconstruction of 3D scene structure and motion from stereo video. The model takes two temporal stereo pairs as input, and predicts disparity and…
Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…
Convolutional neural networks (CNNs) have recently been very successful in a variety of computer vision tasks, especially on those linked to recognition. Optical flow estimation has not been among the tasks where CNNs were successful. In…
For visual estimation of optical flow, a crucial function for many vision tasks, unsupervised learning, using the supervision of view synthesis has emerged as a promising alternative to supervised methods, since ground-truth flow is not…
Recently, neural network for scene flow estimation show impressive results on automotive data such as the KITTI benchmark. However, despite of using sophisticated rigidity assumptions and parametrizations, such networks are typically…
Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…
Significant progress has been made for estimating optical flow using deep neural networks. Advanced deep models achieve accurate flow estimation often with a considerable computation complexity and time-consuming training processes. In this…
Scene flow estimation predicts the 3D motion at each point in successive LiDAR scans. This detailed, point-level, information can help autonomous vehicles to accurately predict and understand dynamic changes in their surroundings. Current…
Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…
3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…
We present a novel deep neural network architecture for end-to-end scene flow estimation that directly operates on large-scale 3D point clouds. Inspired by Bilateral Convolutional Layers (BCL), we propose novel DownBCL, UpBCL, and CorrBCL…