相关论文: FlowStep3D: Model Unrolling for Self-Supervised Sc…

3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…

We present ReFlow, a unified framework for monocular dynamic scene reconstruction that learns 3D motion in a novel self-correction manner from raw video. Existing methods often suffer from incomplete scene initialization for dynamic…

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…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

Learning without supervision how to predict 3D scene flows from point clouds is essential to many perception systems. We propose a novel learning framework for this task which improves the necessary regularization. Relying on the assumption…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

In this paper we tackle the problem of scene flow estimation in the context of self-driving. We leverage deep learning techniques as well as strong priors as in our application domain the motion of the scene can be composed by the motion of…

Optical flow estimation is a crucial subfield of computer vision, serving as a foundation for video tasks. However, the real-world robustness is limited by animated synthetic datasets for training. This introduces domain gaps when applied…

Reconstructing and tracking dynamic 3D scenes remains a fundamental challenge in computer vision. Existing approaches often decouple geometry from motion: multi-view reconstruction methods assume static scenes, while dynamic tracking…

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…

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…

When interacting with highly dynamic environments, scene flow allows autonomous systems to reason about the non-rigid motion of multiple independent objects. This is of particular interest in the field of autonomous driving, in which many…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…

Scene flow estimation is a crucial component in the development of autonomous driving and 3D robotics, providing valuable information for environment perception and navigation. Despite the advantages of learning-based scene flow estimation…

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…

Although multi-scale concepts have recently proven useful for recurrent network architectures in the field of optical flow and stereo, they have not been considered for image-based scene flow so far. Hence, based on a single-scale recurrent…

Accurate autoregressive prediction of 3D turbulent flows remains challenging for neural PDE solvers, as small errors in fine-scale structures can accumulate rapidly over rollout. In this paper, we propose FlowRefiner, a flow matching-based…

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…