相关论文: Unsupervised Learning of 3D Scene Flow with 3D Odo…

In this work, we propose a novel framework for unsupervised learning for event cameras that learns motion information from only the event stream. In particular, we propose an input representation of the events in the form of a discretized…

Optical flow estimation is a fundamental problem in computer vision, yet the reliance on expensive ground-truth annotations limits the scalability of supervised approaches. Although unsupervised and semi-supervised methods alleviate this…

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…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

We propose a novel end-to-end deep scene flow model, called PointPWC-Net, on 3D point clouds in a coarse-to-fine fashion. Flow computed at the coarse level is upsampled and warped to a finer level, enabling the algorithm to accommodate for…

In this paper, we study the problem of 3D object segmentation from raw point clouds. Unlike all existing methods which usually require a large amount of human annotations for full supervision, we propose the first unsupervised method,…

Given two consecutive frames from a pair of stereo cameras, 3D scene flow methods simultaneously estimate the 3D geometry and motion of the observed scene. Many existing approaches use superpixels for regularization, but may predict…

Optical flow estimation is very challenging in situations with transparent or occluded objects. In this work, we address these challenges at the task level by introducing Amodal Optical Flow, which integrates optical flow with amodal…

Occlusion is an inevitable and critical problem in unsupervised optical flow learning. Existing methods either treat occlusions equally as non-occluded regions or simply remove them to avoid incorrectness. However, the occlusion regions can…

Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…

Event cameras respond to scene dynamics and offer advantages to estimate motion. Following recent image-based deep-learning achievements, optical flow estimation methods for event cameras have rushed to combine those image-based methods…

We reframe scene flow as the task of estimating a continuous space-time ODE that describes motion for an entire observation sequence, represented with a neural prior. Our method, EulerFlow, optimizes this neural prior estimate against…

This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern autonomous vehicles. Such redundancy implicitly provides various…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

We propose a novel scene flow estimation approach to capture and infer 3D motions from point clouds. Estimating 3D motions for point clouds is challenging, since a point cloud is unordered and its density is significantly non-uniform. Such…

Scene flow estimation aims to recover per-point motion from two adjacent LiDAR scans. However, in real-world applications such as autonomous driving, points rarely move independently of others, especially for nearby points belonging to the…

Optical flow is an indispensable building block for various important computer vision tasks, including motion estimation, object tracking, and disparity measurement. In this work, we propose TransFlow, a pure transformer architecture for…

Video classification is productive in many practical applications, and the recent deep learning has greatly improved its accuracy. However, existing works often model video frames indiscriminately, but from the view of motion, video frames…

Parametric human models capture global pose but cannot represent the non-rigid surface dynamics of clothing and soft tissue. Generic scene flow estimates dense motion but breaks down on articulated bodies, where pixel-level supervision is…

In the last few years, convolutional neural networks (CNNs) have demonstrated increasing success at learning many computer vision tasks including dense estimation problems such as optical flow and stereo matching. However, the joint…