相关论文: Fast Multi-frame Stereo Scene Flow with Motion Seg…

We present a method for decomposing the 3D scene flow observed from a moving stereo rig into stationary scene elements and dynamic object motion. Our unsupervised learning framework jointly reasons about the camera motion, optical flow, and…

Scene flow is a description of real world motion in 3D that contains more information than optical flow. Because of its complexity there exists no applicable variant for real-time scene flow estimation in an automotive or commercial vehicle…

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…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

The importance and demands of visual scene understanding have been steadily increasing along with the active development of autonomous systems. Consequently, there has been a large amount of research dedicated to semantic segmentation 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…

Appearance-based detectors achieve remarkable performance on common scenes, but tend to fail for scenarios lack of training data. Geometric motion segmentation algorithms, however, generalize to novel scenes, but have yet to achieve…

Estimating 3D scene flow from a sequence of monocular images has been gaining increased attention due to the simple, economical capture setup. Owing to the severe ill-posedness of the problem, the accuracy of current methods has been…

To date, top-performing optical flow estimation methods only take pairs of consecutive frames into account. While elegant and appealing, the idea of using more than two frames has not yet produced state-of-the-art results. We present a…

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…

Existing optical flow methods make generic, spatially homogeneous, assumptions about the spatial structure of the flow. In reality, optical flow varies across an image depending on object class. Simply put, different objects move…

The optical flow of natural scenes is a combination of the motion of the observer and the independent motion of objects. Existing algorithms typically focus on either recovering motion and structure under the assumption of a purely static…

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…

We propose to modify the common training protocols of optical flow, leading to sizable accuracy improvements without adding to the computational complexity of the training process. The improvement is based on observing the bias in sampling…

Significant attention has been attracted to deep learning-based depth estimates. Dynamic objects become the most hard problems in inter-frame-supervised depth estimates due to the uncertainty in adjacent frames. Thus, integrating optical…

Occlusions between consecutive frames have long posed a significant challenge in optical flow estimation. The inherent ambiguity introduced by occlusions directly violates the brightness constancy constraint and considerably hinders…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

In this paper, we study the problem of jointly estimating the optical flow and scene flow from synchronized 2D and 3D data. Previous methods either employ a complex pipeline that splits the joint task into independent stages, or fuse 2D and…

Optical Flow (OF) is the movement pattern of pixels or edges that is caused in a visual scene by the relative motion between an agent and a scene. OF is used in a wide range of computer vision algorithms and robotics applications. While the…

Event cameras are novel bio-inspired sensors that offer advantages over traditional cameras (low latency, high dynamic range, low power, etc.). Optical flow estimation methods that work on packets of events trade off speed for accuracy,…