相关论文: 2D LiDAR Map Prediction via Estimating Motion Flow…

In the recent years, the domain of fast flow field prediction has been vastly dominated by pixel-based convolutional neural networks. Yet, the recent advent of graph convolutional neural networks (GCNNs) have attracted a considerable…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…

Environments lacking geometric features (e.g., tunnels and long straight corridors) are challenging for LiDAR-based odometry algorithms because LiDAR point clouds degenerate in such environments. For wheeled robots, a wheel kinematic model…

Hydrometric forecasting is crucial for managing water resources, flood prediction, and environmental protection. Water stations are interconnected, and this connectivity influences the measurements at other stations. However, the dynamic…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

This paper studies optical flow estimation, a critical task in motion analysis with applications in autonomous navigation, action recognition, and film production. Traditional optical flow methods require consecutive frames, which are often…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

Moving object segmentation based on LiDAR is a crucial and challenging task for autonomous driving and mobile robotics. Most approaches explore spatio-temporal information from LiDAR sequences to predict moving objects in the current frame.…

This paper investigates training better visual world models for robot manipulation, i.e., models that can predict future visual observations by conditioning on past frames and robot actions. Specifically, we consider world models that…

Estimating dense 2D optical flow and 3D scene flow is essential for dynamic scene understanding. Recent work combines images, LiDAR, and event data to jointly predict 2D and 3D motion, yet most approaches operate in separate heterogeneous…

The optical flow of humans is well known to be useful for the analysis of human action. Recent optical flow methods focus on training deep networks to approach the problem. However, the training data used by them does not cover the domain…

Understanding the scene is key for autonomously navigating vehicles and the ability to segment the surroundings online into moving and non-moving objects is a central ingredient for this task. Often, deep learning-based methods are used to…

Extracting information on fluid motion directly from images is challenging. Fluid flow represents a complex dynamic system governed by the Navier-Stokes equations. General optical flow methods are typically designed for rigid body motion,…

Forecasting motion and spatial positions of objects is of fundamental importance, especially in safety-critical settings such as autonomous driving. In this work, we address the issue by forecasting two different modalities that carry…

We present a novel method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future information of dynamic scenes. Our automated generation process creates groundtruth SOGMs from previous navigation…

Motion detection is a fundamental but challenging task for autonomous driving. In particular scenes like highway, remote objects have to be paid extra attention for better controlling decision. Aiming at distant vehicles, we train a neural…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

Despite the substantial demand for high-quality, large-area building maps, no established open-source workflow for generating 2D and 3D maps currently exists. This study introduces an automated, open-source workflow for large-scale 2D and…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…