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

This paper proposes an end-to-end trainable network, SegFlow, for simultaneously predicting pixel-wise object segmentation and optical flow in videos. The proposed SegFlow has two branches where useful information of object segmentation and…

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…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

We propose SF2SE3, a novel approach to estimate scene dynamics in form of a segmentation into independently moving rigid objects and their SE(3)-motions. SF2SE3 operates on two consecutive stereo or RGB-D images. First, noisy scene flow is…

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous…

Inaccurate optical flow estimates in and near occluded regions, and out-of-boundary regions are two of the current significant limitations of optical flow estimation algorithms. Recent state-of-the-art optical flow estimation algorithms are…

While most scene flow methods use either variational optimization or a strong rigid motion assumption, we show for the first time that scene flow can also be estimated by dense interpolation of sparse matches. To this end, we find sparse…

Predicting the future to anticipate the outcome of events and actions is a critical attribute of autonomous agents; particularly for agents which must rely heavily on real time visual data for decision making. Working towards this…

We present Seen2Scene, the first flow matching-based approach that trains directly on incomplete, real-world 3D scans for scene completion and generation. Unlike prior methods that rely on complete and hence synthetic 3D data, our approach…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

Semantic scene segmentation has primarily been addressed by forming representations of single images both with supervised and unsupervised methods. The problem of semantic segmentation in dynamic scenes has begun to recently receive…

We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models…

In the last few years, convolutional neural networks (CNNs) have demonstrated increasing success at learning many computer vision tasks including dense estimation problems such as optical flow and stereo matching. However, the joint…

When interacting with highly dynamic environments, scene flow allows autonomous systems to reason about the non-rigid motion of multiple independent objects. This is of particular interest in the field of autonomous driving, in which many…

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…

The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Scene flow, which provides the 3D motion field of the first frame from two consecutive point clouds, is vital for dynamic scene perception. However, contemporary scene flow methods face three major challenges. Firstly, they lack global flow…