相关论文: RAFT-MSF: Self-Supervised Monocular Scene Flow usi…

Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…

For visual estimation of optical flow, a crucial function for many vision tasks, unsupervised learning, using the supervision of view synthesis has emerged as a promising alternative to supervised methods, since ground-truth flow is not…

Motion segmentation from a single moving camera presents a significant challenge in the field of computer vision. This challenge is compounded by the unknown camera movements and the lack of depth information of the scene. While deep…

Self-supervised feed-forward methods for scene flow estimation offer real-time efficiency, but their supervision from two-frame point correspondences is unreliable and often breaks down under occlusions. Multi-frame supervision has the…

In this report, we present our optical flow approach, MS-RAFT+, that won the Robust Vision Challenge 2022. It is based on the MS-RAFT method, which successfully integrates several multi-scale concepts into single-scale RAFT. Our approach…

Monocular depth estimation plays a fundamental role in computer vision. Due to the costly acquisition of depth ground truth, self-supervised methods that leverage adjacent frames to establish a supervisory signal have emerged as the most…

We present a self-supervised approach to estimate flow in camera image and top-view grid map sequences using fully convolutional neural networks in the domain of automated driving. We extend existing approaches for self-supervised optical…

Self-supervised monocular depth estimation has shown impressive results in static scenes. It relies on the multi-view consistency assumption for training networks, however, that is violated in dynamic object regions and occlusions.…

Scene flow estimation is a crucial component in the development of autonomous driving and 3D robotics, providing valuable information for environment perception and navigation. Despite the advantages of learning-based scene flow estimation…

Existing 3D scene flow estimation methods provide the 3D geometry and 3D motion of a scene and gain a lot of interest, for example in the context of autonomous driving. These methods are traditionally based on a temporal series of stereo…

Despite significant progress in deep learning-based optical flow methods, accurately estimating large displacements and repetitive patterns remains a challenge. The limitations of local features and similarity search patterns used in these…

A training pipeline for optical flow CNNs consists of a pretraining stage on a synthetic dataset followed by a fine tuning stage on a target dataset. However, obtaining ground truth flows from a target video requires a tremendous effort.…

We introduce a way to learn to estimate a scene representation from a single image by predicting a low-dimensional subspace of optical flow for each training example, which encompasses the variety of possible camera and object movement.…

In recent years, deep neural networks showed their exceeding capabilities in addressing many computer vision tasks including scene flow prediction. However, most of the advances are dependent on the availability of a vast amount of dense…

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…

In this work, we propose a method that combines unsupervised deep learning predictions for optical flow and monocular disparity with a model based optimization procedure for instantaneous camera pose. Given the flow and disparity…

Modern optical flow methods make use of salient scene feature points detected and matched within the scene as a basis for sparse-to-dense optical flow estimation. Current feature detectors however either give sparse, non uniform point…

Self-supervised monocular depth estimation networks are trained to predict scene depth using nearby frames as a supervision signal during training. However, for many applications, sequence information in the form of video frames is also…

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

Due to the scarcity of annotated scene flow data, self-supervised scene flow learning in point clouds has attracted increasing attention. In the self-supervised manner, establishing correspondences between two point clouds to approximate…