相关论文: Cascaded Scene Flow Prediction using Semantic Segm…

This paper is the first to review the scene flow estimation field, which analyzes and compares methods, technical challenges, evaluation methodologies and performance of scene flow estimation. Existing algorithms are categorized in terms of…

As a bio-inspired sensor with high temporal resolution, the spiking camera has an enormous potential in real applications, especially for motion estimation in high-speed scenes. However, frame-based and event-based methods are not well…

Both optical flow and stereo disparities are image matches and can therefore benefit from joint training. Depth and 3D motion provide geometric rather than photometric information and can further improve optical flow. Accordingly, we design…

Semantic scene segmentation plays a critical role in a wide range of robotics applications, e.g., autonomous navigation. These applications are accompanied by specific computational restrictions, e.g., operation on low-power GPUs, at…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

Discriminative segmental models offer a way to incorporate flexible feature functions into speech recognition. However, their appeal has been limited by their computational requirements, due to the large number of possible segments to…

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…

Video semantic segmentation is active in recent years benefited from the great progress of image semantic segmentation. For such a task, the per-frame image segmentation is generally unacceptable in practice due to high computation cost. To…

Structured scene descriptions of images are useful for the automatic processing and querying of large image databases. We show how the combination of a semantic and a visual statistical model can improve on the task of mapping images to…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Humans possess an exceptional ability to imagine 4D scenes, encompassing both motion and 3D geometry, from a single still image. This ability is rooted in our accumulated observations of similar scenes and an intuitive understanding of…

Scene Graph Generation (SGG) unifies object localization and visual relationship reasoning by predicting boxes and subject-predicate-object triples. Yet most pipelines treat SGG as a one-shot, deterministic classification problem rather…

Event cameras such as DAVIS can simultaneously output high temporal resolution events and low frame-rate intensity images, which own great potential in capturing scene motion, such as optical flow estimation. Most of the existing optical…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

Unsupervised optical flow estimation is especially hard near occlusions and motion boundaries and in low-texture regions. We show that additional information such as semantics and domain knowledge can help better constrain this problem. We…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Real-time motion detection in non-stationary scenes is a difficult task due to dynamic background, changing foreground appearance and limited computational resource. These challenges degrade the performance of the existing methods in…

This work proposes a metric learning approach for self-supervised scene flow estimation. Scene flow estimation is the task of estimating 3D flow vectors for consecutive 3D point clouds. Such flow vectors are fruitful, \eg for recognizing…