相关论文: Hidden Gems: 4D Radar Scene Flow Learning Using Cr…

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.…

We study the problem of self-supervised 3D scene flow estimation from real large-scale raw point cloud sequences, which is crucial to various tasks like trajectory prediction or instance segmentation. In the absence of ground truth scene…

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point's movement. Scene flow estimation is used in various applications such as autonomous driving fields,…

Radar has shown strong potential for robust perception in autonomous driving; however, raw radar images are frequently degraded by noise and "ghost" artifacts, making object detection based solely on semantic features highly challenging. To…

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…

Cross-modal retrieval aims to learn discriminative and modal-invariant features for data from different modalities. Unlike the existing methods which usually learn from the features extracted by offline networks, in this paper, we propose…

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous…

Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…

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…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

Roadside unit (RSU) can significantly improve the safety and robustness of autonomous vehicles through Vehicle-to-Everything (V2X) communication. Currently, the usage of a single RSU mainly focuses on real-time inference and V2X…

Scene understanding plays an essential role in enabling autonomous driving and maintaining high standards of performance and safety. To address this task, cameras and laser scanners (LiDARs) have been the most commonly used sensors, with…

In this paper, we propose a deep learning based reduced order modeling method for stochastic underground flow problems in highly heterogeneous media. We aim to utilize supervised learning to build a reduced surrogate model from the…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

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 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…

Multi-modal 3D scene understanding has gained considerable attention due to its wide applications in many areas, such as autonomous driving and human-computer interaction. Compared to conventional single-modal 3D understanding, introducing…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…

In this paper we present a self-supervised method for representation learning utilizing two different modalities. Based on the observation that cross-modal information has a high semantic meaning we propose a method to effectively exploit…