相关论文: Hallucinating Dense Optical Flow from Sparse Lidar…

In this technical report we investigate speed estimation of the ego-vehicle on the KITTI benchmark using state-of-the-art deep neural network based optical flow and single-view depth prediction methods. Using a straightforward intuitive…

Event-based cameras can overpass frame-based cameras limitations for important tasks such as high-speed motion detection during self-driving cars navigation in low illumination conditions. The event cameras' high temporal resolution and…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

LiDAR perception is severely limited by the distance-dependent sparsity of distant objects. While diffusion models can recover dense geometry, they suffer from prohibitive latency and physical hallucinations manifesting as ghost points. We…

Near field depth estimation around a self driving car is an important function that can be achieved by four wide angle fisheye cameras having a field of view of over 180. Depth estimation based on convolutional neural networks (CNNs)…

Depth estimation is a fundamental component of spatial perception for autonomous driving and other unmanned systems operating in open urban environments. Existing depth datasets such as KITTI, nuScenes, and DDAD have advanced the field but…

Dense depth perception is critical for autonomous driving and other robotics applications. However, modern LiDAR sensors only provide sparse depth measurement. It is thus necessary to complete the sparse LiDAR data, where a synchronized…

In this work, we present LaserFlow, an efficient method for 3D object detection and motion forecasting from LiDAR. Unlike the previous work, our approach utilizes the native range view representation of the LiDAR, which enables our method…

We present FlowIt, a novel architecture for optical flow estimation designed to robustly handle large pixel displacements. At its core, FlowIt leverages a hierarchical transformer architecture that captures extensive global context,…

Denoising diffusion probabilistic models have transformed image generation with their impressive fidelity and diversity. We show that they also excel in estimating optical flow and monocular depth, surprisingly, without task-specific…

We present DistillFlow, a knowledge distillation approach to learning optical flow. DistillFlow trains multiple teacher models and a student model, where challenging transformations are applied to the input of the student model to generate…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

This paper deals with a challenging, frequently encountered, yet not properly investigated problem in two-frame optical flow estimation. That is, the input frames are compounds of two imaging layers -- one desired background layer of the…

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…

LiDARs have been widely adopted to modern self-driving vehicles, providing 3D information of the scene and surrounding objects. However, adverser weather conditions still pose significant challenges to LiDARs since point clouds captured…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

The FlowNet demonstrated that optical flow estimation can be cast as a learning problem. However, the state of the art with regard to the quality of the flow has still been defined by traditional methods. Particularly on small displacements…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…

We study the problem of estimating optical flow from event cameras. One important issue is how to build a high-quality event-flow dataset with accurate event values and flow labels. Previous datasets are created by either capturing real…

The reconstruction and prediction of full-state flows from sparse data are of great scientific and engineering significance yet remain challenging, especially in applications where data are sparse and/or subjected to noise. To this end,…