相关论文: Learning to Segment Rigid Motions from Two Frames

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Both optical flow and stereo disparities are image matches and can therefore benefit from joint training. Depth and 3D motion provide geometric rather than photometric information and can further improve optical flow. Accordingly, we design…

Motion segmentation is a fundamental problem in computer vision and is crucial in various applications such as robotics, autonomous driving and action recognition. Recently, spectral clustering based methods have shown impressive results on…

Data-driven modeling of human motions is ubiquitous in computer graphics and computer vision applications, such as synthesizing realistic motions or recognizing actions. Recent research has shown that such problems can be approached by…

Motion blur can adversely affect a number of vision tasks, hence it is generally considered a nuisance. We instead treat motion blur as a useful signal that allows to compute the motion of objects from a single image. Drawing on the success…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

In this paper, we consider the task of unsupervised object discovery in videos. Previous works have shown promising results via processing optical flows to segment objects. However, taking flow as input brings about two drawbacks. First,…

Learning depth and optical flow via deep neural networks by watching videos has made significant progress recently. In this paper, we jointly solve the two tasks by exploiting the underlying geometric rules within stereo videos.…

Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…

Due to the problem of performance constraints of unsupervised video object detection, its large-scale application is limited. In response to this pain point, we propose another excellent method to solve this problematic point. By…

We address the problem of joint optical flow and camera motion estimation in rigid scenes by incorporating geometric constraints into an unsupervised deep learning framework. Unlike existing approaches which rely on brightness constancy and…

Conventional video segmentation approaches rely heavily on appearance models. Such methods often use appearance descriptors that have limited discriminative power under complex scenarios. To improve the segmentation performance, this paper…

This paper addresses the problem of selecting appearance features for multiple object tracking (MOT) in urban scenes. Over the years, a large number of features has been used for MOT. However, it is not clear whether some of them are better…

In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes (called "events"), with microsecond…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…

Weakly supervised instance segmentation has gained popularity because it reduces high annotation cost of pixel-level masks required for model training. Recent approaches for weakly supervised instance segmentation detect and segment objects…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…