相关论文: Self-Supervised Multi-Frame Neural Scene Flow

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…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

Scene flow estimation determines a scene's 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving. Many networks with large-scale point clouds as input use voxelization to create…

It is important to estimate an accurate signed distance function (SDF) from a point cloud in many computer vision applications. The latest methods learn neural SDFs using either a data-driven based or an overfitting-based strategy. However,…

High-fidelity 3D scene reconstruction has been substantially advanced by recent progress in neural fields. However, most existing methods train a separate network from scratch for each individual scene. This is not scalable, inefficient,…

Point cloud sequences are commonly used to accurately detect 3D objects in applications such as autonomous driving. Current top-performing multi-frame detectors mostly follow a Detect-and-Fuse framework, which extracts features from each…

Due to the scarcity of annotated scene flow data, self-supervised scene flow learning in point clouds has attracted increasing attention. In the self-supervised manner, establishing correspondences between two point clouds to approximate…

Scene flow in 3D point clouds plays an important role in understanding dynamic environments. Although significant advances have been made by deep neural networks, the performance is far from satisfactory as only per-point translational…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

We reframe scene flow as the task of estimating a continuous space-time ODE that describes motion for an entire observation sequence, represented with a neural prior. Our method, EulerFlow, optimizes this neural prior estimate against…

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…

Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…

Scene flow estimation has been receiving increasing attention for 3D environment perception. Monocular scene flow estimation -- obtaining 3D structure and 3D motion from two temporally consecutive images -- is a highly ill-posed problem,…

When interacting with highly dynamic environments, scene flow allows autonomous systems to reason about the non-rigid motion of multiple independent objects. This is of particular interest in the field of autonomous driving, in which many…

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…

We present a self-supervised approach to estimate flow in camera image and top-view grid map sequences using fully convolutional neural networks in the domain of automated driving. We extend existing approaches for self-supervised optical…

To date, top-performing optical flow estimation methods only take pairs of consecutive frames into account. While elegant and appealing, the idea of using more than two frames has not yet produced state-of-the-art results. We present a…

Learning scene flow from a monocular camera still remains a challenging task due to its ill-posedness as well as lack of annotated data. Self-supervised methods demonstrate learning scene flow estimation from unlabeled data, yet their…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…