相关论文: Multi-Body Neural Scene Flow

Before the deep learning revolution, many perception algorithms were based on runtime optimization in conjunction with a strong prior/regularization penalty. A prime example of this in computer vision is optical and scene flow. Supervised…

Neural Scene Flow Prior (NSFP) and Fast Neural Scene Flow (FNSF) have shown remarkable adaptability in the context of large out-of-distribution autonomous driving. Despite their success, the underlying reasons for their astonishing…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

Neural Scene Flow Prior (NSFP) is of significant interest to the vision community due to its inherent robustness to out-of-distribution (OOD) effects and its ability to deal with dense lidar points. The approach utilizes a coordinate neural…

Self-supervised monocular scene flow estimation, aiming to understand both 3D structures and 3D motions from two temporally consecutive monocular images, has received increasing attention for its simple and economical sensor setup. However,…

We introduce a novel multiframe scene flow approach that jointly optimizes the consistency of the patch appearances and their local rigid motions from RGB-D image sequences. In contrast to the competing methods, we take advantage of an…

Knowing the 3D motions in a dynamic scene is essential to many vision applications. Recent progress is mainly focused on estimating the activity of some specific elements like humans. In this paper, we leverage a neural motion field for…

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…

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…

State-of-the-art scene flow algorithms pursue the conflicting targets of accuracy, run time, and robustness. With the successful concept of pixel-wise matching and sparse-to-dense interpolation, we push the limits of scene flow estimation.…

Recently, neural network for scene flow estimation show impressive results on automotive data such as the KITTI benchmark. However, despite of using sophisticated rigidity assumptions and parametrizations, such networks are typically…

Scene flow estimation is a crucial component in the development of autonomous driving and 3D robotics, providing valuable information for environment perception and navigation. Despite the advantages of learning-based scene flow estimation…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

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…

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…

Learning accurate scene reconstruction without pose priors in neural radiance fields is challenging due to inherent geometric ambiguity. Recent development either relies on correspondence priors for regularization or uses off-the-shelf flow…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Learning without supervision how to predict 3D scene flows from point clouds is essential to many perception systems. We propose a novel learning framework for this task which improves the necessary regularization. Relying on the assumption…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

We propose a continuous optimization method for solving dense 3D scene flow problems from stereo imagery. As in recent work, we represent the dynamic 3D scene as a collection of rigidly moving planar segments. The scene flow problem then…