相关论文: FlowNet3D: Learning Scene Flow in 3D Point Clouds

Significant progress has been made for estimating optical flow using deep neural networks. Advanced deep models achieve accurate flow estimation often with a considerable computation complexity and time-consuming training processes. In this…

3D scene graph prediction is a task that aims to concurrently predict object classes and their relationships within a 3D environment. As these environments are primarily designed by and for humans, incorporating commonsense knowledge…

Scene flow describes the motion of 3D objects in real world and potentially could be the basis of a good feature for 3D action recognition. However, its use for action recognition, especially in the context of convolutional neural networks…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

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…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Learning without supervision how to predict 3D scene flows from point clouds is essential to many perception systems. We propose a novel learning framework for this task which improves the necessary regularization. Relying on the assumption…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Popular industrial robotic problems such as spray painting and welding require (i) conditioning on free-shape 3D objects and (ii) planning of multiple trajectories to solve the task. Yet, existing solutions make strong assumptions on the…

With recent success of deep learning in 2D visual recognition, deep learning-based 3D point cloud analysis has received increasing attention from the community, especially due to the rapid development of autonomous driving technologies.…

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…

Scene recognition is an image recognition problem aimed at predicting the category of the place at which the image is taken. In this paper, a new scene recognition method using the convolutional neural network (CNN) is proposed. The…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Most of the current scene flow methods choose to model scene flow as a per point translation vector without differentiating between static and dynamic components of 3D motion. In this work we present an alternative method for end-to-end…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

3D point cloud generation by the deep neural network from a single image has been attracting more and more researchers' attention. However, recently-proposed methods require the objects be captured with relatively clean backgrounds, fixed…