相关论文: Adversarial Self-Supervised Scene Flow Estimation

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…

We present a novel motion planning algorithm for transferring a liquid body from a source to a target container. Our approach uses a receding-horizon optimization strategy that takes into account fluid constraints and avoids collisions. In…

Self-supervised learning has drawn attention through its effectiveness in learning in-domain representations with no ground-truth annotations; in particular, it is shown that properly designed pretext tasks (e.g., contrastive prediction…

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…

Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scene flow estimation approaches achieve a reasonable accuracy,…

Self-supervised monocular depth estimation methods have been increasingly given much attention due to the benefit of not requiring large, labelled datasets. Such self-supervised methods require high-quality salient features and consequently…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

In autonomous driving, accurately estimating the state of surrounding obstacles is critical for safe and robust path planning. However, this perception task is difficult, particularly for generic obstacles/objects, due to appearance and…

Scene flow describes the motion of 3D objects in real world and potentially could be the basis of a good feature for 3D action recognition. However, its use for action recognition, especially in the context of convolutional neural networks…

Generative Adversarial Networks have been shown to be powerful in generating content. To this end, they have been studied intensively in the last few years. Nonetheless, training these networks requires solving a saddle point problem that…

Recent works have shown that optical flow can be learned by deep networks from unlabelled image pairs based on brightness constancy assumption and smoothness prior. Current approaches additionally impose an augmentation regularization term…

Existing 3D scene flow estimation methods provide the 3D geometry and 3D motion of a scene and gain a lot of interest, for example in the context of autonomous driving. These methods are traditionally based on a temporal series of stereo…

Consistency Guided Scene Flow Estimation (CGSF) is a self-supervised framework for the joint reconstruction of 3D scene structure and motion from stereo video. The model takes two temporal stereo pairs as input, and predicts disparity and…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Parametric human models capture global pose but cannot represent the non-rigid surface dynamics of clothing and soft tissue. Generic scene flow estimates dense motion but breaks down on articulated bodies, where pixel-level supervision is…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

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…

Reconstruction of 3D neural fields from posed images has emerged as a promising method for self-supervised representation learning. The key challenge preventing the deployment of these 3D scene learners on large-scale video data is their…

Deep learning classifiers are susceptible to well-crafted, imperceptible variations of their inputs, known as adversarial attacks. In this regard, the study of powerful attack models sheds light on the sources of vulnerability in these…