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

This paper presents a novel architecture for simultaneous estimation of highly accurate optical flows and rigid scene transformations for difficult scenarios where the brightness assumption is violated by strong shading changes. In the case…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

Optical flow estimation aims to find the 2D motion field by identifying corresponding pixels between two images. Despite the tremendous progress of deep learning-based optical flow methods, it remains a challenge to accurately estimate…

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…

Point cloud segmentation is the foundation of 3D environmental perception for modern intelligent systems. To solve this problem and image segmentation, conditional random fields (CRFs) are usually formulated as discrete models in label…

Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

Robust velocity and position estimation is crucial for autonomous robot navigation. The optical flow based methods for autonomous navigation have been receiving increasing attentions in tandem with the development of micro unmanned aerial…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

Recently normalizing flows (NFs) have demonstrated state-of-the-art performance on modeling 3D point clouds while allowing sampling with arbitrary resolution at inference time. However, these flow-based models still require long training…

Point Pair Features is a widely used method to detect 3D objects in point clouds, however they are prone to fail in presence of sensor noise and background clutter. We introduce novel sampling and voting schemes that significantly reduces…

We present a novel algorithm for point cloud segmentation. Our approach transforms unstructured point clouds into regular voxel grids, and further uses a kernel-based interpolated variational autoencoder (VAE) architecture to encode the…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

We present a novel 3D shape completion method that operates directly on unstructured point clouds, thus avoiding resource-intensive data structures like voxel grids. To this end, we introduce KAPLAN, a 3D point descriptor that aggregates…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

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…

In this paper, we present a novel deep method to reconstruct a point cloud of an object from a single still image. Prior arts in the field struggle to reconstruct an accurate and scalable 3D model due to either the inefficient and expensive…

In this paper, we present an Intersection-over-Union (IoU) guided two-stage 3D object detector with a voxel-to-point decoder. To preserve the necessary information from all raw points and maintain the high box recall in voxel based Region…

Event cameras respond to changes in log-brightness at the millisecond level, making them ideal for optical flow estimation. However, existing datasets from event cameras provide only low frame rate ground truth for optical flow, limiting…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…