相关论文: Regularizing Self-supervised 3D Scene Flows with S…

Scene flow estimation, which predicts the 3D motion of scene points from point clouds, is a core task in autonomous driving and many other 3D vision applications. Existing methods either suffer from structure distortion due to ignorance of…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

Flow-based generative models have highly desirable properties like exact log-likelihood evaluation and exact latent-variable inference, however they are still in their infancy and have not received as much attention as alternative…

Point cloud scene flow estimation is of practical importance for dynamic scene navigation in autonomous driving. Since scene flow labels are hard to obtain, current methods train their models on synthetic data and transfer them to real…

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…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

Video classification is productive in many practical applications, and the recent deep learning has greatly improved its accuracy. However, existing works often model video frames indiscriminately, but from the view of motion, video frames…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

Scene flow estimation, which aims to predict per-point 3D displacements of dynamic scenes, is a fundamental task in the computer vision field. However, previous works commonly suffer from unreliable correlation caused by locally constrained…

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…

3D Semantic Scene Completion (SSC) provides comprehensive scene geometry and semantics for autonomous driving perception, which is crucial for enabling accurate and reliable decision-making. However, existing SSC methods are limited to…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale…

Scene flow estimation, which extracts point-wise motion between scenes, is becoming a crucial task in many computer vision tasks. However, all of the existing estimation methods utilize only the unidirectional features, restricting the…

Scene flow, which provides the 3D motion field of the first frame from two consecutive point clouds, is vital for dynamic scene perception. However, contemporary scene flow methods face three major challenges. Firstly, they lack global flow…

With the recent advent of methods that allow for real-time computation, dense 3D flows have become a viable basis for fast camera motion estimation. Most importantly, dense flows are more robust than the sparse feature matching techniques…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

Estimating 3D scene flow from a sequence of monocular images has been gaining increased attention due to the simple, economical capture setup. Owing to the severe ill-posedness of the problem, the accuracy of current methods has been…

Surface reconstruction for point clouds is an important task in 3D computer vision. Most of the latest methods resolve this problem by learning signed distance functions from point clouds, which are limited to reconstructing closed…