相关论文: Re-Evaluating LiDAR Scene Flow for Autonomous Driv…

An autonomous driving system requires a 3D object detector, which must perceive all present road agents reliably to navigate an environment safely. However, real-world driving datasets often suffer from the problem of data imbalance, which…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

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…

As one of the most important tasks in autonomous driving systems, ego-lane detection has been extensively studied and has achieved impressive results in many scenarios. However, ego-lane detection in the missing feature scenarios is still…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

Data and model are the undoubtable two supporting pillars for LiDAR object detection. However, data-centric works have fallen far behind compared with the ever-growing list of fancy new models. In this work, we systematically study the…

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…

We introduce Recurrent All-Pairs Field Transforms for Stereoscopic Particle Image Velocimetry (RAFT-StereoPIV). Our approach leverages deep optical flow learning to analyze time-resolved and double-frame particle images from on-site…

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…

Recent studies have highlighted the promising application of NeRF in autonomous driving contexts. However, the complexity of outdoor environments, combined with the restricted viewpoints in driving scenarios, complicates the task of…

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.…

We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…

Scene flow estimation is the task of describing the 3D motion field between temporally successive point clouds. State-of-the-art methods use strong priors and test-time optimization techniques, but require on the order of tens of seconds to…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at generalizing across diverse real-world scenarios. For online…

Learning scene flow from a monocular camera still remains a challenging task due to its ill-posedness as well as lack of annotated data. Self-supervised methods demonstrate learning scene flow estimation from unlabeled data, yet their…