相关论文: EffiScene: Efficient Per-Pixel Rigidity Inference …

Low-resolution point clouds are challenging for object detection methods due to their sparsity. Densifying the present point cloud by concatenating it with its predecessors is a popular solution to this challenge. Such concatenation is…

Image retrieval is a critical step for reducing the quadratic cost of image matching in unconstrained Structure-from-Motion (SfM). Unlike generic image retrieval, however, the relevant goal of SfM is to identify geometrically matchable…

Optical flow estimation is one of the fundamental tasks in low-level computer vision, which describes the pixel-wise displacement and can be used in many other tasks. From the apparent aspect, the optical flow can be viewed as the…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

Structure-from-Motion is a technology used to obtain scene structure through image collection, which is a fundamental problem in computer vision. For unordered Internet images, SfM is very slow due to the lack of prior knowledge about image…

Standard frame-based cameras that sample light intensity frames are heavily impacted by motion blur for high-speed motion and fail to perceive scene accurately when the dynamic range is high. Event-based cameras, on the other hand, overcome…

For semantic segmentation, most existing real-time deep models trained with each frame independently may produce inconsistent results for a video sequence. Advanced methods take into considerations the correlations in the video sequence,…

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point's movement. Scene flow estimation is used in various applications such as autonomous driving fields,…

Estimating per-pixel motion between video frames, known as optical flow, is a long-standing problem in video understanding and analysis. Most contemporary optical flow techniques largely focus on addressing the cross-image matching with…

We address the problem of scene flow: given a pair of stereo or RGB-D video frames, estimate pixelwise 3D motion. We introduce RAFT-3D, a new deep architecture for scene flow. RAFT-3D is based on the RAFT model developed for optical flow…

Recent weakly-supervised methods for scene flow estimation from LiDAR point clouds are limited to explicit reasoning on object-level. These methods perform multiple iterative optimizations for each rigid object, which makes them vulnerable…

Self-supervised feed-forward methods for scene flow estimation offer real-time efficiency, but their supervision from two-frame point correspondences is unreliable and often breaks down under occlusions. Multi-frame supervision has the…

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…

Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale…

Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

We learn to compute optical flow by combining a classical spatial-pyramid formulation with deep learning. This estimates large motions in a coarse-to-fine approach by warping one image of a pair at each pyramid level by the current flow…