相关论文: Self-Supervised Bird's Eye View Motion Prediction …

Masked autoencoders (MAEs) have emerged recently as art self-supervised spatiotemporal representation learners. Inheriting from the image counterparts, however, existing video MAEs still focus largely on static appearance learning whilst…

The task of Generic Event Boundary Detection (GEBD) aims to detect moments in videos that are naturally perceived by humans as generic and taxonomy-free event boundaries. Modeling the dynamically evolving temporal and spatial changes in a…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

Intelligent agent naturally learns from motion. Various self-supervised algorithms have leveraged motion cues to learn effective visual representations. The hurdle here is that motion is both ambiguous and complex, rendering previous works…

Most of the existing self-supervised feature learning methods for 3D data either learn 3D features from point cloud data or from multi-view images. By exploring the inherent multi-modality attributes of 3D objects, in this paper, we propose…

In the field of autonomous driving and mobile robotics, there has been a significant shift in the methods used to create Bird's Eye View (BEV) representations. This shift is characterised by using transformers and learning to fuse…

Given the difficulty of manually annotating motion in video, the current best motion estimation methods are trained with synthetic data, and therefore struggle somewhat due to a train/test gap. Self-supervised methods hold the promise of…

Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…

Bird's-Eye-View (BEV) maps have emerged as one of the most powerful representations for scene understanding due to their ability to provide rich spatial context while being easy to interpret and process. Such maps have found use in many…

Bird's-eye-view (BEV) is a powerful and widely adopted representation for road scenes that captures surrounding objects and their spatial locations, along with overall context in the scene. In this work, we focus on bird's eye semantic…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

Recent works in object detection in LiDAR point clouds mostly focus on predicting bounding boxes around objects. This prediction is commonly achieved using anchor-based or anchor-free detectors that predict bounding boxes, requiring…

Detecting objects in 3D space using multiple cameras, known as Multi-Camera 3D Object Detection (MC3D-Det), has gained prominence with the advent of bird's-eye view (BEV) approaches. However, these methods often struggle when faced with…

Understanding human motion is crucial for accurate pedestrian trajectory prediction. Conventional methods typically rely on supervised learning, where ground-truth labels are directly optimized against predicted trajectories. This amplifies…

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…

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…

Expressing images with Multi-Resolution (MR) features has been widely adopted in many computer vision tasks. In this paper, we introduce the MR concept into Bird's-Eye-View (BEV) semantic segmentation for autonomous driving. This…

Most successful self-supervised learning methods are trained to align the representations of two independent views from the data. State-of-the-art methods in video are inspired by image techniques, where these two views are similarly…

Bird's Eye View (BEV) perception systems based on multi-sensor feature fusion have become a fundamental cornerstone for end-to-end autonomous driving. However, existing multi-modal BEV methods commonly suffer from limited input…

Unsupervised optical flow estimators based on deep learning have attracted increasing attention due to the cost and difficulty of annotating for ground truth. Although performance measured by average End-Point Error (EPE) has improved over…