相关论文: Learning Scene Dynamics from Point Cloud Sequences

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

The occlusion problem remains a crucial challenge in optical flow estimation (OFE). Despite the recent significant progress brought about by deep learning, most existing deep learning OFE methods still struggle to handle occlusions; in…

Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…

Existing video prediction methods mainly rely on observing multiple historical frames or focus on predicting the next one-frame. In this work, we study the problem of generating consecutive multiple future frames by observing one single…

In this paper, we focus on semantic segmentation method for point clouds of urban scenes. Our fundamental concept revolves around the collaborative utilization of diverse scene representations to benefit from different context information…

Scene flow methods based on deep learning have achieved impressive performance. However, current top-performing methods still struggle with ill-posed regions, such as extensive flat regions or occlusions, due to insufficient local evidence.…

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…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

We develop a human movement trajectory prediction system that incorporates the scene information (Scene-LSTM) as well as human movement trajectories (Pedestrian movement LSTM) in the prediction process within static crowded scenes. We…

Computer vision and machine learning tools offer an exciting new way for automatically analyzing and categorizing information from complex computer simulations. Here we design an ensemble machine learning framework that can independently…

Besides local features, global information plays an essential role in semantic segmentation, while recent works usually fail to explicitly extract the meaningful global information and make full use of it. In this paper, we propose a…

Human motion sensing plays a crucial role in smart systems for decision-making, user interaction, and personalized services. Extensive research that has been conducted is predominantly based on cameras, whose intrusive nature limits their…

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…

Monocular visual SLAM enables 3D reconstruction from internet video and autonomous navigation on resource-constrained platforms, yet suffers from scale drift, i.e., the gradual divergence of estimated scale over long sequences. Existing…

Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal,…

Scene coordinate regression (SCR) models have proven to be powerful implicit scene representations for 3D vision, enabling visual relocalization and structure-from-motion. SCR models are trained specifically for one scene. If training…

The integration of image and event streams offers a promising approach for achieving robust visual object tracking in complex environments. However, current fusion methods achieve high performance at the cost of significant computational…

Scene flow estimation, which predicts the 3D motion of scene points from point clouds, is a core task in autonomous driving and many other 3D vision applications. Existing methods either suffer from structure distortion due to ignorance of…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…