相关论文: 3D Ensemble-Based Online Oceanic Flow Field Estima…

We present a method to estimate two-dimensional, time-invariant oceanic flow fields based on data from both ensemble forecasts and online measurements. Our method produces a realistic estimate in a computationally efficient manner suitable…

Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…

Based on machine learning techniques, we propose a novel method to estimate flow fields using only floating sensor locations. This method does not require either ground-truth velocity fields or governing equations for fluid flows, which is…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it encodes the point motion between two consecutive frames.…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

A method is proposed to estimate the velocity field of an unsteady flow using a limited number of flow measurements. The method is based on a non-linear low-dimensional model of the flow and on expanding the velocity field in terms of…

Scene flow estimation is the task of describing 3D motion between temporally successive observations. This thesis aims to build the foundation for building scene flow estimators with two important properties: they are scalable, i.e. they…

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…

Estimation of unsteady flow fields around flight vehicles may improve flow interactions and lead to enhanced vehicle performance. Although flow-field representations can be very high-dimensional, their dynamics can have low-order…

Flow-matching models have recently emerged as a powerful framework for continuous generative modeling, including 3D point cloud synthesis. However, their deployment is limited by the need for multiple sequential sampling steps at inference…

Estimating the 3D motion of points in a scene, known as scene flow, is a core problem in computer vision. Traditional learning-based methods designed to learn end-to-end 3D flow often suffer from poor generalization. Here we present a…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

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…

Underwater gliders (UGs) have emerged as highly effective unmanned vehicles for ocean exploration. However, their operation in dynamic and complex underwater environments necessitates robust path-planning strategies. Previous studies have…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

It's difficult to accurately predict the flow with shock waves over an aircraft due to the flow's strongly nonlinear characteristics. In this study, we propose an accuracy-enhanced flow prediction method that fuses deep learning and…

Forecasting ocean drift trajectories are important for many applications, including search and rescue operations, oil spill cleanup and iceberg risk mitigation. In an operational setting, forecasts of drift trajectories are produced based…

Knowing the sea surface velocity field is essential for various applications, such as search and rescue operations and oil spill monitoring, where understanding the movement of objects or substances is critical. However, obtaining an…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…