Related papers: An Unsupervised Optical Flow Estimation For LiDAR …

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…

Temporal coherence is a valuable source of information in the context of optical flow estimation. However, finding a suitable motion model to leverage this information is a non-trivial task. In this paper we propose an unsupervised online…

Event cameras are bio-inspired sensors that asynchronously report intensity changes in microsecond resolution. DAVIS can capture high dynamics of a scene and simultaneously output high temporal resolution events and low frame-rate intensity…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Unsupervised deep learning for optical flow computation has achieved promising results. Most existing deep-net based methods rely on image brightness consistency and local smoothness constraint to train the networks. Their performance…

Popular benchmarks for self-supervised LiDAR scene flow (stereoKITTI, and FlyingThings3D) have unrealistic rates of dynamic motion, unrealistic correspondences, and unrealistic sampling patterns. As a result, progress on these benchmarks is…

It has been recently shown that a convolutional neural network can learn optical flow estimation with unsupervised learning. However, the performance of the unsupervised methods still has a relatively large gap compared to its supervised…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

We present DDFlow, a data distillation approach to learning optical flow estimation from unlabeled data. The approach distills reliable predictions from a teacher network, and uses these predictions as annotations to guide a student network…

We propose LiDAL, a novel active learning method for 3D LiDAR semantic segmentation by exploiting inter-frame uncertainty among LiDAR frames. Our core idea is that a well-trained model should generate robust results irrespective of…

FlowNet2, the state-of-the-art convolutional neural network (CNN) for optical flow estimation, requires over 160M parameters to achieve accurate flow estimation. In this paper we present an alternative network that outperforms FlowNet2 on…

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…

Occlusions play an important role in disparity and optical flow estimation, since matching costs are not available in occluded areas and occlusions indicate depth or motion boundaries. Moreover, occlusions are relevant for motion…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

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…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…