Related papers: CMU-Flownet: Exploring Point Cloud Scene Flow Esti…
One of the greatest sources of uncertainty in future climate projections comes from limitations in modelling clouds and in understanding how different cloud types interact with the climate system. A key first step in reducing this…
Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…
LiDAR point cloud streams are usually sparse in time dimension, which is limited by hardware performance. Generally, the frame rates of mechanical LiDAR sensors are 10 to 20 Hz, which is much lower than other commonly used sensors like…
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…
Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…
Robust point cloud registration is a fundamental task in 3D computer vision and geometric deep learning, essential for applications such as large-scale 3D reconstruction, augmented reality, and scene understanding. However, the performance…
Panoptic segmentation aims to perform instance segmentation for foreground instances and semantic segmentation for background stuff simultaneously. The typical top-down pipeline concentrates on two key issues: 1) how to effectively model…
Achieving ubiquitous high-accuracy localization is crucial for next-generation wireless systems, yet remains challenging in multipath-rich urban environments. By exploiting the fine-grained multipath characteristics embedded in channel…
We present two novel generative geometric deep learning frameworks, termed Flow Matching PointNet and Diffusion PointNet, for predicting fluid flow variables on irregular geometries by incorporating PointNet into flow matching and diffusion…
We address the problem of joint optical flow and camera motion estimation in rigid scenes by incorporating geometric constraints into an unsupervised deep learning framework. Unlike existing approaches which rely on brightness constancy and…
Recently, fusing the LiDAR point cloud and camera image to improve the performance and robustness of 3D object detection has received more and more attention, as these two modalities naturally possess strong complementarity. In this paper,…
Learning matching costs has been shown to be critical to the success of the state-of-the-art deep stereo matching methods, in which 3D convolutions are applied on a 4D feature volume to learn a 3D cost volume. However, this mechanism has…
Most recent UAV (Unmanned Aerial Vehicle) detectors focus primarily on general challenge such as uneven distribution and occlusion. However, the neglect of scale challenges, which encompass scale variation and small objects, continues to…
We systematically compare and analyze a set of key components in unsupervised optical flow to identify which photometric loss, occlusion handling, and smoothness regularization is most effective. Alongside this investigation we construct a…
Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…
Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…
Recent advances in generative modeling have demonstrated strong promise for high-quality point cloud upsampling. In this work, we present PUFM++, an enhanced flow-matching framework for reconstructing dense and accurate point clouds from…
Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…
Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…
Point set is arguably the most direct approximation of an object or scene surface, yet its practical acquisition often suffers from the shortcoming of being noisy, sparse, and possibly incomplete, which restricts its use for a high-quality…