Related papers: Learning Optical Flow and Scene Flow with Bidirect…

Optical flow is an indispensable building block for various important computer vision tasks, including motion estimation, object tracking, and disparity measurement. In this work, we propose TransFlow, a pure transformer architecture for…

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…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

We propose a continuous optimization method for solving dense 3D scene flow problems from stereo imagery. As in recent work, we represent the dynamic 3D scene as a collection of rigidly moving planar segments. The scene flow problem then…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

Optical flow estimation is crucial to a variety of vision tasks. Despite substantial recent advancements, achieving real-time on-device optical flow estimation remains a complex challenge. First, an optical flow model must be sufficiently…

Due to the scarcity of annotated scene flow data, self-supervised scene flow learning in point clouds has attracted increasing attention. In the self-supervised manner, establishing correspondences between two point clouds to approximate…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…

Understanding 3D scenes is a critical prerequisite for autonomous agents. Recently, LiDAR and other sensors have made large amounts of data available in the form of temporal sequences of point cloud frames. In this work, we propose a novel…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

Optical flow provides information on relative motion that is an important component in many computer vision pipelines. Neural networks provide high accuracy optical flow, yet their complexity is often prohibitive for application at the edge…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Scene flow in 3D point clouds plays an important role in understanding dynamic environments. Although significant advances have been made by deep neural networks, the performance is far from satisfactory as only per-point translational…

Optical flow is the motion of a pixel between at least two consecutive video frames and can be estimated through an end-to-end trainable convolutional neural network. To this end, large training datasets are required to improve the accuracy…

Unsupervised optical flow methods typically lack reliable uncertainty estimation, limiting their robustness and interpretability. We propose U$^{2}$Flow, the first recurrent unsupervised framework that jointly estimates optical flow and…

Learning-based optical flow estimation has been dominated with the pipeline of cost volume with convolutions for flow regression, which is inherently limited to local correlations and thus is hard to address the long-standing challenge of…