相关论文: Sparse Representations for Object and Ego-motion E…

Moving object detection is a critical task for autonomous vehicles. As dynamic objects represent higher collision risk than static ones, our own ego-trajectories have to be planned attending to the future states of the moving elements of…

From Vision-Language-Action (VLA) systems to robotics, existing egocentric datasets primarily focus on action recognition tasks, while largely overlooking the inherent role of motion analysis in sports and other fast-movement scenarios. To…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…

Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…

In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

We propose the use of a proportional-derivative (PD) control based policy learned via reinforcement learning (RL) to estimate and forecast 3D human pose from egocentric videos. The method learns directly from unsegmented egocentric videos…

Appearance-based detectors achieve remarkable performance on common scenes, but tend to fail for scenarios lack of training data. Geometric motion segmentation algorithms, however, generalize to novel scenes, but have yet to achieve…

We propose an approach for reconstructing free-moving object from a monocular RGB video. Most existing methods either assume scene prior, hand pose prior, object category pose prior, or rely on local optimization with multiple sequence…

We present a methodology to model articulated objects using a sparse set of images with unknown poses. Current methods require dense multi-view observations and ground-truth camera poses. Our approach operates with as few as four views per…

Self-supervised monocular depth estimation has shown impressive results in static scenes. It relies on the multi-view consistency assumption for training networks, however, that is violated in dynamic object regions and occlusions.…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

Event-based cameras are dynamic vision sensors that provide asynchronous measurements of changes in per-pixel brightness at a microsecond level. This makes them significantly faster than conventional frame-based cameras, and an appealing…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

In autonomous driving, monocular sequences contain lots of information. Monocular depth estimation, camera ego-motion estimation and optical flow estimation in consecutive frames are high-profile concerns recently. By analyzing tasks above,…

For visual estimation of optical flow, a crucial function for many vision tasks, unsupervised learning, using the supervision of view synthesis has emerged as a promising alternative to supervised methods, since ground-truth flow is not…