相关论文: Self-supervised AutoFlow

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.…

Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to…

We present a self-supervised learning approach for optical flow. Our method distills reliable flow estimations from non-occluded pixels, and uses these predictions as ground truth to learn optical flow for hallucinated occlusions. We…

Great labels make great models. However, traditional labeling approaches for tasks like object detection have substantial costs at scale. Furthermore, alternatives to fully-supervised object detection either lose functionality or require…

Recently, convolutional networks (convnets) have proven useful for predicting optical flow. Much of this success is predicated on the availability of large datasets that require expensive and involved data acquisition and laborious la-…

Unsupervised optical flow estimation is especially hard near occlusions and motion boundaries and in low-texture regions. We show that additional information such as semantics and domain knowledge can help better constrain this problem. We…

Synthetic datasets are often used to pretrain end-to-end optical flow networks, due to the lack of a large amount of labeled, real-scene data. But major drops in accuracy occur when moving from synthetic to real scenes. How do we better…

Synthetic datasets play a critical role in pre-training CNN models for optical flow, but they are painstaking to generate and hard to adapt to new applications. To automate the process, we present AutoFlow, a simple and effective method to…

This work proposes a metric learning approach for self-supervised scene flow estimation. Scene flow estimation is the task of estimating 3D flow vectors for consecutive 3D point clouds. Such flow vectors are fruitful, \eg for recognizing…

Image-based 3D detection is an indispensable component of the perception system for autonomous driving. However, it still suffers from the unsatisfying performance, one of the main reasons for which is the limited training data.…

Recent advances in the field of machine learning and computer vision have enabled the development of fast and accurate road detectors. Commonly such systems are trained within a supervised learning paradigm where both an input sensor's data…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

Recent supervised multi-view depth estimation networks have achieved promising results. Similar to all supervised approaches, these networks require ground-truth data during training. However, collecting a large amount of multi-view depth…

We present a novel self-taught framework for unsupervised metric learning, which alternates between predicting class-equivalence relations between data through a moving average of an embedding model and learning the model with the predicted…

Recently unsupervised learning of depth from videos has made remarkable progress and the results are comparable to fully supervised methods in outdoor scenes like KITTI. However, there still exist great challenges when directly applying…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…

As the adoption of deep learning techniques in industrial applications grows with increasing speed and scale, successful deployment of deep learning models often hinges on the availability, volume, and quality of annotated data. In this…

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…

Given the difficulty of manually annotating motion in video, the current best motion estimation methods are trained with synthetic data, and therefore struggle somewhat due to a train/test gap. Self-supervised methods hold the promise of…