相关论文: Learning Scene Dynamics from Point Cloud Sequences

Modeling sequential user behaviors for future behavior prediction is crucial in improving user's information retrieval experience. Recent studies highlight the importance of incorporating contextual information to enhance prediction…

Scene understanding is a critical problem in computer vision. In this paper, we propose a 3D point-based scene graph generation ($\mathbf{SGG_{point}}$) framework to effectively bridge perception and reasoning to achieve scene understanding…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

In this paper, we study the problem of jointly estimating the optical flow and scene flow from synchronized 2D and 3D data. Previous methods either employ a complex pipeline that splits the joint task into independent stages, or fuse 2D and…

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…

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…

This paper is the first to review the scene flow estimation field, which analyzes and compares methods, technical challenges, evaluation methodologies and performance of scene flow estimation. Existing algorithms are categorized in terms of…

Spatiotemporal systems are common in the real-world. Forecasting the multi-step future of these spatiotemporal systems based on the past observations, or, Spatiotemporal Sequence Forecasting (STSF), is a significant and challenging problem.…

Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

Learning on 3D scene-based point cloud has received extensive attention as its promising application in many fields, and well-annotated and multisource datasets can catalyze the development of those data-driven approaches. To facilitate the…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Point cloud videos capture dynamic 3D motion while reducing the effects of lighting and viewpoint variations, making them highly effective for recognizing subtle and continuous human actions. Although Selective State Space Models (SSMs)…

Point cloud frame interpolation is a challenging task that involves accurate scene flow estimation across frames and maintaining the geometry structure. Prevailing techniques often rely on pre-trained motion estimators or intensive…

Semantic segmentation in complex scenes relies not only on object appearance but also on object location and the surrounding environment. Nonetheless, it is difficult to model long-range context in the format of pairwise point correlations…

Neural Scene Flow Prior (NSFP) is of significant interest to the vision community due to its inherent robustness to out-of-distribution (OOD) effects and its ability to deal with dense lidar points. The approach utilizes a coordinate neural…

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…