相关论文: ZeroFlow: Scalable Scene Flow via Distillation

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…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

We propose a new approach called LiDAR-Flow to robustly estimate a dense scene flow by fusing a sparse LiDAR with stereo images. We take the advantage of the high accuracy of LiDAR to resolve the lack of information in some regions of…

Surgical scene understanding is a key prerequisite for contextaware decision support in the operating room. While deep learning-based approaches have already reached or even surpassed human performance in various fields, the task of…

Large models have shown generalization across datasets for many low-level vision tasks, like depth estimation, but no such general models exist for scene flow. Even though scene flow has wide potential use, it is not used in practice…

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…

Stream applications are widely deployed on the cloud. While modern distributed streaming systems like Flink and Spark Streaming can schedule and execute them efficiently, streaming dataflows are often dynamically changing, which may cause…

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

We present DistillFlow, a knowledge distillation approach to learning optical flow. DistillFlow trains multiple teacher models and a student model, where challenging transformations are applied to the input of the student model to generate…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

LiDAR point cloud is essential for autonomous vehicles, but motion distortions from dynamic objects degrade the data quality. While previous work has considered distortions caused by ego motion, distortions caused by other moving objects…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

Vision Language Models (VLMs) have demonstrated remarkable performance in open-world zero-shot visual recognition. However, their potential in space-related applications remains largely unexplored. In the space domain, accurate manual…

Dataset distillation seeks to synthesize a highly compact dataset that achieves performance comparable to the original dataset on downstream tasks. For the classification task that use pre-trained self-supervised models as backbones,…

Recent work on distilling Whisper's knowledge into small models using pseudo-labels shows promising performance while reducing the size by up to 50%. This results in small, efficient, and dedicated models. However, a critical step of…

This work proposes a metric learning approach for self-supervised scene flow estimation. Scene flow estimation is the task of estimating 3D flow vectors for consecutive 3D point clouds. Such flow vectors are fruitful, \eg for recognizing…

Autonomous driving requires the model to perceive the environment and (re)act within a low latency for safety. While past works ignore the inevitable changes in the environment after processing, streaming perception is proposed to jointly…

Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scene flow estimation approaches achieve a reasonable accuracy,…