相关论文: PV-RAFT: Point-Voxel Correlation Fields for Scene …

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

We propose to incorporate feature correlation and sequential processing into dense optical flow estimation from event cameras. Modern frame-based optical flow methods heavily rely on matching costs computed from feature correlation. In…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

Current LiDAR point cloud-based 3D single object tracking (SOT) methods typically rely on point-based representation network. Despite demonstrated success, such networks suffer from some fundamental problems: 1) It contains pooling…

The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

Efficient representation of point clouds is fundamental for LiDAR-based 3D object detection. While recent grid-based detectors often encode point clouds into either voxels or pillars, the distinctions between these approaches remain…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…

Scene flow represents the motion information of each point in the 3D point clouds. It is a vital downstream method applied to many tasks, such as motion segmentation and object tracking. However, there are always occlusion points between…

Recent multimodal fusion methods, integrating images with LiDAR point clouds, have shown promise in scene flow estimation. However, the fusion of 4D millimeter wave radar and LiDAR remains unexplored. Unlike LiDAR, radar is cheaper, more…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…

While point-based neural architectures have demonstrated their efficacy, the time-consuming sampler currently prevents them from performing real-time reasoning on scene-level point clouds. Existing methods attempt to overcome this issue by…

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…

Recent optical flow estimation methods often employ local cost sampling from a dense all-pairs correlation volume. This results in quadratic computational and memory complexity in the number of pixels. Although an alternative…

Point clouds are essential for object modeling and play a critical role in assisting driving tasks for autonomous vehicles (AVs). However, the significant volume of data generated by AVs creates challenges for storage, bandwidth, and…

Occlusions hinder point cloud frame alignment in LiDAR data, a challenge inadequately addressed by scene flow models tested mainly on occlusion-free datasets. Attempts to integrate occlusion handling within networks often suffer accuracy…