相关论文: PWOC-3D: Deep Occlusion-Aware End-to-End Scene Flo…

Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…

Given two consecutive frames from a pair of stereo cameras, 3D scene flow methods simultaneously estimate the 3D geometry and motion of the observed scene. Many existing approaches use superpixels for regularization, but may predict…

6D object pose estimation is a fundamental yet challenging problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even under monocular settings.…

Convolutional neural networks (CNNs) have been widely used over many areas in compute vision. Especially in classification. Recently, FlowNet and several works on opti- cal estimation using CNNs shows the potential ability of CNNs in doing…

This paper studies monocular visual odometry (VO) problem. Most of existing VO algorithms are developed under a standard pipeline including feature extraction, feature matching, motion estimation, local optimisation, etc. Although some of…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

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…

Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…

We propose a novel scene flow estimation approach to capture and infer 3D motions from point clouds. Estimating 3D motions for point clouds is challenging, since a point cloud is unordered and its density is significantly non-uniform. Such…

Scene flow represents the motion information of each point in the 3D point clouds. It is a vital downstream method applied to many tasks, such as motion segmentation and object tracking. However, there are always occlusion points between…

We present a compact but effective CNN model for optical flow, called PWC-Net. PWC-Net has been designed according to simple and well-established principles: pyramidal processing, warping, and the use of a cost volume. Cast in a learnable…

Video prediction is a fundamental task for various downstream applications, including robotics and world modeling. Although general video prediction models have achieved remarkable performance in standard scenarios, occlusion is still an…

In this paper, we propose a unified method to jointly learn optical flow and stereo matching. Our first intuition is stereo matching can be modeled as a special case of optical flow, and we can leverage 3D geometry behind stereoscopic…

Two optical flow estimation problems are addressed: i) occlusion estimation and handling, and ii) estimation from image sequences longer than two frames. The proposed ContinualFlow method estimates occlusions before flow, avoiding the use…

Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…

Optical flow is an indispensable building block for various important computer vision tasks, including motion estimation, object tracking, and disparity measurement. In this work, we propose TransFlow, a pure transformer architecture for…

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…

Deep convolutional neural networks (DCNN) have recently shown promising results in low-level computer vision problems such as optical flow and disparity estimation, but still, have much room to further improve their performance. In this…

We present a self-supervised learning approach for optical flow. Our method distills reliable flow estimations from non-occluded pixels, and uses these predictions as ground truth to learn optical flow for hallucinated occlusions. We…

Unsupervised deep learning for optical flow computation has achieved promising results. Most existing deep-net based methods rely on image brightness consistency and local smoothness constraint to train the networks. Their performance…