相关论文: Occlusion Guided Self-supervised Scene Flow Estima…

Despite monocular 3D object detection having recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery, such two-stage methods typically suffer from overfitting and are incapable of…

Monocular 3D object parsing is highly desirable in various scenarios including occlusion reasoning and holistic scene interpretation. We present a deep convolutional neural network (CNN) architecture to localize semantic parts in 2D image…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

High-level 3D scene understanding is essential in many applications. However, the challenges of generating accurate 3D annotations make development of deep learning models difficult. We turn to recent advancements in automatic retrieval of…

We describe a simple pre-training approach for point clouds. It works in three steps: 1. Mask all points occluded in a camera view; 2. Learn an encoder-decoder model to reconstruct the occluded points; 3. Use the encoder weights as…

In this paper, we propose a unified method to jointly learn optical flow and stereo matching. Our first intuition is stereo matching can be modeled as a special case of optical flow, and we can leverage 3D geometry behind stereoscopic…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

In this paper we tackle the problem of scene flow estimation in the context of self-driving. We leverage deep learning techniques as well as strong priors as in our application domain the motion of the scene can be composed by the motion of…

Geometry and color information provided by the point clouds are both crucial for 3D scene understanding. Two pieces of information characterize the different aspects of point clouds, but existing methods lack an elaborate design for the…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

Efficiently selecting an appropriate spike stream data length to extract precise information is the key to the spike vision tasks. To address this issue, we propose a dynamic timing representation for spike streams. Based on multi-layers…

CNN-based optical flow estimation has attracted attention recently, mainly due to its impressively high frame rates. These networks perform well on synthetic datasets, but they are still far behind the classical methods in real-world…

Unsupervised learning for geometric perception (depth, optical flow, etc.) is of great interest to autonomous systems. Recent works on unsupervised learning have made considerable progress on perceiving geometry; however, they usually…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

Before the deep learning revolution, many perception algorithms were based on runtime optimization in conjunction with a strong prior/regularization penalty. A prime example of this in computer vision is optical and scene flow. Supervised…

3D scene graph prediction is a task that aims to concurrently predict object classes and their relationships within a 3D environment. As these environments are primarily designed by and for humans, incorporating commonsense knowledge…

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…

Neural Scene Flow Prior (NSFP) and Fast Neural Scene Flow (FNSF) have shown remarkable adaptability in the context of large out-of-distribution autonomous driving. Despite their success, the underlying reasons for their astonishing…