相关论文: Adversarial Self-Supervised Scene Flow Estimation

Event-based cameras have shown great promise in a variety of situations where frame based cameras suffer, such as high speed motions and high dynamic range scenes. However, developing algorithms for event measurements requires a new class…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

Scene flow estimation aims to recover per-point motion from two adjacent LiDAR scans. However, in real-world applications such as autonomous driving, points rarely move independently of others, especially for nearby points belonging to the…

Using deep learning, this paper addresses the problem of joint object boundary detection and boundary motion estimation in videos, which we named boundary flow estimation. Boundary flow is an important mid-level visual cue as boundaries…

The objective of this paper is self-supervised learning of feature embeddings that are suitable for matching correspondences along the videos, which we term correspondence flow. By leveraging the natural spatial-temporal coherence in…

We tackle the task of scene flow estimation from point clouds. Given a source and a target point cloud, the objective is to estimate a translation from each point in the source point cloud to the target, resulting in a 3D motion vector…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

The interpretation of ego motion and scene change is a fundamental task for mobile robots. Optical flow information can be employed to estimate motion in the surroundings. Recently, unsupervised optical flow estimation has become a research…

Self-supervised metric learning has been a successful approach for learning a distance from an unlabeled dataset. The resulting distance is broadly useful for improving various distance-based downstream tasks, even when no information from…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…

Scene flow estimation, which aims to predict per-point 3D displacements of dynamic scenes, is a fundamental task in the computer vision field. However, previous works commonly suffer from unreliable correlation caused by locally constrained…

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…

Scene flow in 3D point clouds plays an important role in understanding dynamic environments. Although significant advances have been made by deep neural networks, the performance is far from satisfactory as only per-point translational…

Reliable 3D dynamic perception requires models that can anticipate motion beyond predefined categories, yet progress is hindered by the scarcity of dense, high-quality motion annotations. While self-supervision on unlabeled real data offers…

Event cameras rely on motion to obtain information about scene appearance. This means that appearance and motion are inherently linked: either both are present and recorded in the event data, or neither is captured. Previous works treat the…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Self-supervised monocular scene flow estimation, aiming to understand both 3D structures and 3D motions from two temporally consecutive monocular images, has received increasing attention for its simple and economical sensor setup. However,…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

Previous dominant methods for scene flow estimation focus mainly on input from two consecutive frames, neglecting valuable information in the temporal domain. While recent trends shift towards multi-frame reasoning, they suffer from rapidly…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…