相关论文: PointFlowHop: Green and Interpretable Scene Flow E…

Scene flow estimation determines a scene's 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving. Many networks with large-scale point clouds as input use voxelization to create…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

Scene flow is the three-dimensional (3D) motion field of a scene. It provides information about the spatial arrangement and rate of change of objects in dynamic environments. Current learning-based approaches seek to estimate the scene flow…

The design of a tiny machine learning model, which can be deployed in mobile and edge devices, for point cloud object classification is investigated in this work. To achieve this objective, we replace the multi-scale representation of a…

Estimating the 3D motion of points in a scene, known as scene flow, is a core problem in computer vision. Traditional learning-based methods designed to learn end-to-end 3D flow often suffer from poor generalization. Here we present a…

The PointHop method was recently proposed by Zhang et al. for 3D point cloud classification with unsupervised feature extraction. It has an extremely low training complexity while achieving state-of-the-art classification performance. In…

As 3D point clouds become the representation of choice for multiple vision and graphics applications, the ability to synthesize or reconstruct high-resolution, high-fidelity point clouds becomes crucial. Despite the recent success of deep…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

Scene flow estimation aims to generate the 3D motion field of points between two consecutive frames of point clouds, which has wide applications in various fields. Existing point-based methods ignore the irregularity of point clouds and…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

Scene flow estimation predicts the 3D motion at each point in successive LiDAR scans. This detailed, point-level, information can help autonomous vehicles to accurately predict and understand dynamic changes in their surroundings. Current…

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…

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

An explainable machine learning method for point cloud classification, called the PointHop method, is proposed in this work. The PointHop method consists of two stages: 1) local-to-global attribute building through iterative one-hop…

Inspired by the recent PointHop classification method, an unsupervised 3D point cloud registration method, called R-PointHop, is proposed in this work. R-PointHop first determines a local reference frame (LRF) for every point using its…

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…

Recently, the RGB images and point clouds fusion methods have been proposed to jointly estimate 2D optical flow and 3D scene flow. However, as both conventional RGB cameras and LiDAR sensors adopt a frame-based data acquisition mechanism,…

We present a novel deep neural network architecture for end-to-end scene flow estimation that directly operates on large-scale 3D point clouds. Inspired by Bilateral Convolutional Layers (BCL), we propose novel DownBCL, UpBCL, and CorrBCL…