相关论文: Deep Rigid Instance Scene Flow

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…

Scene flow is the three-dimensional (3D) motion field of a scene. It provides information about the spatial arrangement and rate of change of objects in dynamic environments. Current learning-based approaches seek to estimate the scene flow…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system when images are…

Motion forecasting for agents in autonomous driving is highly challenging due to the numerous possibilities for each agent's next action and their complex interactions in space and time. In real applications, motion forecasting takes place…

Representing and rendering dynamic scenes from 2D images is a fundamental yet challenging problem in computer vision and graphics. This survey provides a comprehensive review of the evolution and advancements in dynamic scene representation…

We present a latent diffusion model for fast feed-forward 3D scene generation. Given one or more images, our model Bolt3D directly samples a 3D scene representation in less than seven seconds on a single GPU. We achieve this by leveraging…

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…

While stochastic video prediction models enable future prediction under uncertainty, they mostly fail to model the complex dynamics of real-world scenes. For example, they cannot provide reliable predictions for scenes with a moving camera…

LiDAR scene synthesis is an emerging solution to scarcity in 3D data for robotic tasks such as autonomous driving. Recent approaches employ diffusion or flow matching models to generate realistic scenes, but 3D data remains limited compared…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which…

This paper presents a novel architecture for simultaneous estimation of highly accurate optical flows and rigid scene transformations for difficult scenarios where the brightness assumption is violated by strong shading changes. In the case…

Most existing Dynamic Gaussian Splatting methods for complex dynamic urban scenarios rely on accurate object-level supervision from expensive manual labeling, limiting their scalability in real-world applications. In this paper, we…

We propose and study a method called FLOT that estimates scene flow on point clouds. We start the design of FLOT by noticing that scene flow estimation on point clouds reduces to estimating a permutation matrix in a perfect world. Inspired…

The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…

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…

Moving Object Detection (MOD) is a critical task for autonomous vehicles as moving objects represent higher collision risk than static ones. The trajectory of the ego-vehicle is planned based on the future states of detected moving objects.…