相关论文: Adversarial Self-Supervised Scene Flow Estimation

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Point cloud scene flow estimation is fundamental to long-term and fine-grained 3D motion analysis. However, existing methods are typically limited to pairwise settings and struggle to maintain temporal consistency over long sequences as…

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…

Among the existing modalities for 3D action recognition, 3D flow has been poorly examined, although conveying rich motion information cues for human actions. Presumably, its susceptibility to noise renders it intractable, thus challenging…

Event cameras such as DAVIS can simultaneously output high temporal resolution events and low frame-rate intensity images, which own great potential in capturing scene motion, such as optical flow estimation. Most of the existing optical…

A training pipeline for optical flow CNNs consists of a pretraining stage on a synthetic dataset followed by a fine tuning stage on a target dataset. However, obtaining ground truth flows from a target video requires a tremendous effort.…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

Neural Scene Flow Prior (NSFP) and Fast Neural Scene Flow (FNSF) have shown remarkable adaptability in the context of large out-of-distribution autonomous driving. Despite their success, the underlying reasons for their astonishing…

We reframe scene flow as the task of estimating a continuous space-time ODE that describes motion for an entire observation sequence, represented with a neural prior. Our method, EulerFlow, optimizes this neural prior estimate against…

This paper is the first to review the scene flow estimation field, which analyzes and compares methods, technical challenges, evaluation methodologies and performance of scene flow estimation. Existing algorithms are categorized in terms of…

Estimating continuous optical flow is a fundamental yet challenging problem in dynamic visual perception. Event-based cameras, with microsecond latency and high dynamic range, capture brightness changes asynchronously, offering a unique…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

Human motion sensing plays a crucial role in smart systems for decision-making, user interaction, and personalized services. Extensive research that has been conducted is predominantly based on cameras, whose intrusive nature limits their…

Scene flow enables an understanding of the motion characteristics of the environment in the 3D world. It gains particular significance in the long-range, where object-based perception methods might fail due to sparse observations far away.…

In this work, we propose a novel framework for unsupervised learning for event cameras that learns motion information from only the event stream. In particular, we propose an input representation of the events in the form of a discretized…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…

Scene flow estimation is the task of describing the 3D motion field between temporally successive point clouds. State-of-the-art methods use strong priors and test-time optimization techniques, but require on the order of tens of seconds to…

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…

The proposed RMS-FlowNet is a novel end-to-end learning-based architecture for accurate and efficient scene flow estimation which can operate on point clouds of high density. For hierarchical scene flow estimation, the existing methods…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…