相关论文: SeFlow: A Self-Supervised Scene Flow Method in Aut…

Understanding the scene is key for autonomously navigating vehicles and the ability to segment the surroundings online into moving and non-moving objects is a central ingredient for this task. Often, deep learning-based methods are used to…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Spatial understanding is a critical aspect of most robotic tasks, particularly when generalization is important. Despite the impressive results of deep generative models in complex manipulation tasks, the absence of a representation that…

Parametric human models capture global pose but cannot represent the non-rigid surface dynamics of clothing and soft tissue. Generic scene flow estimates dense motion but breaks down on articulated bodies, where pixel-level supervision is…

In this paper, we propose a unified method to jointly learn optical flow and stereo matching. Our first intuition is stereo matching can be modeled as a special case of optical flow, and we can leverage 3D geometry behind stereoscopic…

This work presents DCFlow, a novel unsupervised cross-modal flow estimation framework that integrates a decoupled optimization strategy and a cross-modal consistency constraint. Unlike previous approaches that implicitly learn flow…

It is a significant problem to predict the 2D LiDAR map at next moment for robotics navigation and path-planning. To tackle this problem, we resort to the motion flow between adjacent maps, as motion flow is a powerful tool to process and…

We introduce a way to learn to estimate a scene representation from a single image by predicting a low-dimensional subspace of optical flow for each training example, which encompasses the variety of possible camera and object movement.…

End-to-end autonomous driving methods aim to directly map raw sensor inputs to future driving actions such as planned trajectories, bypassing traditional modular pipelines. While these approaches have shown promise, they often operate under…

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…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

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…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

The perception of motion behavior in a dynamic environment holds significant importance for autonomous driving systems, wherein class-agnostic motion prediction methods directly predict the motion of the entire point cloud. While most…

We tackle the task of scene flow estimation from point clouds. Given a source and a target point cloud, the objective is to estimate a translation from each point in the source point cloud to the target, resulting in a 3D motion vector…

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…

In this work, we study self-supervised multiple object tracking without using any video-level association labels. We propose to cast the problem of multiple object tracking as learning the frame-wise associations between detections in…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

We present a method for decomposing the 3D scene flow observed from a moving stereo rig into stationary scene elements and dynamic object motion. Our unsupervised learning framework jointly reasons about the camera motion, optical flow, and…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…