Related papers: HiMo: High-Speed Objects Motion Compensation in Po…
LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…
Scene flow estimation, which extracts point-wise motion between scenes, is becoming a crucial task in many computer vision tasks. However, all of the existing estimation methods utilize only the unidirectional features, restricting the…
In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…
Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…
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…
Large displacement optical flow is an integral part of many computer vision tasks. Variational optical flow techniques based on a coarse-to-fine scheme interpolate sparse matches and locally optimize an energy model conditioned on colour,…
Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…
Existing work on scene flow estimation focuses on autonomous driving and mobile robotics, while automated solutions are lacking for motion in nature, such as that exhibited by debris flows. We propose DEFLOW, a model for 3D motion…
Point cloud scene flow estimation is fundamental to long-term and fine-grained 3D motion analysis. However, existing methods are typically limited to pairwise settings and struggle to maintain temporal consistency over long sequences as…
Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…
Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…
Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…
Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…
Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…
Scene flow estimation is the task of describing the 3D motion field between temporally successive point clouds. State-of-the-art methods use strong priors and test-time optimization techniques, but require on the order of tens of seconds to…
In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…
New 3+1D high-resolution radar sensors are gaining importance for 3D object detection in the automotive domain due to their relative affordability and improved detection compared to classic low-resolution radar sensors. One limitation of…
Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scene flow estimation approaches achieve a reasonable accuracy,…