相关论文: ContrastMotion: Self-supervised Scene Motion Learn…

We present StableMotion, a novel framework leverages knowledge (geometry and content priors) from pretrained large-scale image diffusion models to perform motion estimation, solving single-image-based image rectification tasks such as…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Visual-only self-supervised learning has achieved significant improvement in video representation learning. Existing related methods encourage models to learn video representations by utilizing contrastive learning or designing specific…

Due to the problem of performance constraints of unsupervised video object detection, its large-scale application is limited. In response to this pain point, we propose another excellent method to solve this problematic point. By…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

Robust detection of moving vehicles is a critical task for any autonomously operating outdoor robot or self-driving vehicle. Most modern approaches for solving this task rely on training image-based detectors using large-scale vehicle…

Self-supervised learning is a machine learning approach that generates implicit labels by learning underlined patterns and extracting discriminative features from unlabeled data without manual labelling. Contrastive learning introduces the…

Contrastive representation learning has proven to be an effective self-supervised learning method for images and videos. Most successful approaches are based on Noise Contrastive Estimation (NCE) and use different views of an instance as…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

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,…

Anticipating the future in a dynamic scene is critical for many fields such as autonomous driving and robotics. In this paper we propose a class of novel neural network architectures to predict future LiDAR frames given previous ones. Since…

Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

Self-supervised video correspondence learning depends on the ability to accurately associate pixels between video frames that correspond to the same visual object. However, achieving reliable pixel matching without supervision remains a…

With the attention gained by camera-only 3D object detection in autonomous driving, methods based on Bird-Eye-View (BEV) representation especially derived from the forward view transformation paradigm, i.e., lift-splat-shoot (LSS), have…

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…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…