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

Learning with neural networks from a continuous stream of visual information presents several challenges due to the non-i.i.d. nature of the data. However, it also offers novel opportunities to develop representations that are consistent…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…

The success of supervised learning requires large-scale ground truth labels which are very expensive, time-consuming, or may need special skills to annotate. To address this issue, many self- or un-supervised methods are developed. Unlike…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

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…

Recently, multi-modality scene perception tasks, e.g., image fusion and scene understanding, have attracted widespread attention for intelligent vision systems. However, early efforts always consider boosting a single task unilaterally and…

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Cross-modal systems trained on 2D visual inputs are presented with a dimensional shift when processing 3D scenes. An in-scene camera bridges the dimensionality gap but requires learning a control module. We introduce a new method that…

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.…

Spatial and temporal stream model has gained great success in video action recognition. Most existing works pay more attention to designing effective features fusion methods, which train the two-stream model in a separate way. However, it's…

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Audio-visual embodied navigation aims to enable an agent to autonomously localize and reach a sound source in unseen 3D environments by leveraging auditory cues. The key challenge of this task lies in effectively modeling the interaction…

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…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

Previous dominant methods for scene flow estimation focus mainly on input from two consecutive frames, neglecting valuable information in the temporal domain. While recent trends shift towards multi-frame reasoning, they suffer from rapidly…

Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…