相关论文: RAFT-3D: Scene Flow using Rigid-Motion Embeddings

Motion transfer from the driving to the source portrait remains a key challenge in the portrait animation. Current diffusion-based approaches condition only on the driving motion, which fails to capture source-to-driving correspondences and…

Scene flow describes 3D motion in a 3D scene. It can either be modeled as a single task, or it can be reconstructed from the auxiliary tasks of stereo depth and optical flow estimation. While the second method can achieve real-time…

Depth estimation, essential for autonomous driving, seeks to interpret the 3D environment surrounding vehicles. The development of radar sensors, known for their cost-efficiency and robustness, has spurred interest in radar-camera…

The test-time optimization of scene flow - using a coordinate network as a neural prior - has gained popularity due to its simplicity, lack of dataset bias, and state-of-the-art performance. We observe, however, that although coordinate…

Images of static scenes submerged beneath a wavy water surface exhibit severe non-rigid distortions. The physics of water flow suggests that water surfaces possess spatio-temporal smoothness and temporal periodicity. Hence they possess a…

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…

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,…

Scene flow is a challenging task aimed at jointly estimating the 3D structure and motion of the sensed environment. Although deep learning solutions achieve outstanding performance in terms of accuracy, these approaches divide the whole…

To enable self-driving vehicles accurate detection and tracking of surrounding objects is essential. While Light Detection and Ranging (LiDAR) sensors have set the benchmark for high-performance systems, the appeal of camera-only solutions…

Scene flow estimation determines a scene's 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving. Many networks with large-scale point clouds as input use voxelization to create…

Scene flow estimation predicts the 3D motion at each point in successive LiDAR scans. This detailed, point-level, information can help autonomous vehicles to accurately predict and understand dynamic changes in their surroundings. Current…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

Multimodal image matching is an important prerequisite for multisource image information fusion. Compared with the traditional matching problem, multimodal feature matching is more challenging due to the severe nonlinear radiation…

The field of 3D object detection from point clouds is rapidly advancing in computer vision, aiming to accurately and efficiently detect and localize objects in three-dimensional space. Current 3D detectors commonly fall short in terms of…

Occlusions between consecutive frames have long posed a significant challenge in optical flow estimation. The inherent ambiguity introduced by occlusions directly violates the brightness constancy constraint and considerably hinders…

We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

Seamless situational awareness provided by modern radar systems relies on effective methods for multiobject tracking (MOT). This paper presents a graph-based Bayesian method for nonlinear and high-dimensional MOT problems that embeds…

We propose a novel end-to-end deep scene flow model, called PointPWC-Net, on 3D point clouds in a coarse-to-fine fashion. Flow computed at the coarse level is upsampled and warped to a finer level, enabling the algorithm to accommodate for…

We demonstrate an object tracking method for 3D images with fixed computational cost and state-of-the-art performance. Previous methods predicted transformation parameters from convolutional layers. We instead propose an architecture that…