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

In recent years, deep neural networks showed their exceeding capabilities in addressing many computer vision tasks including scene flow prediction. However, most of the advances are dependent on the availability of a vast amount of dense…

Recent multimodal fusion methods, integrating images with LiDAR point clouds, have shown promise in scene flow estimation. However, the fusion of 4D millimeter wave radar and LiDAR remains unexplored. Unlike LiDAR, radar is cheaper, more…

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…

Most of the current scene flow methods choose to model scene flow as a per point translation vector without differentiating between static and dynamic components of 3D motion. In this work we present an alternative method for end-to-end…

Unsupervised optical flow estimation is especially hard near occlusions and motion boundaries and in low-texture regions. We show that additional information such as semantics and domain knowledge can help better constrain this problem. We…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

In the domain of supervised scene flow estimation, the process of manual labeling is both time-intensive and financially demanding. This paper introduces SSFlowNet, a semi-supervised approach for scene flow estimation, that utilizes a blend…

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…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

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…

Efficiently selecting an appropriate spike stream data length to extract precise information is the key to the spike vision tasks. To address this issue, we propose a dynamic timing representation for spike streams. Based on multi-layers…

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.…

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…

LiDAR point cloud is essential for autonomous vehicles, but motion distortions from dynamic objects degrade the data quality. While previous work has considered distortions caused by ego motion, distortions caused by other moving objects…

Strong semantic representations improve the convergence and generation quality of diffusion and flow models. Existing approaches largely rely on external models, which require separate training, operate on misaligned objectives, and exhibit…

Scene flow is a challenging task aimed at jointly estimating the 3D structure and motion of the sensed environment. Although deep learning solutions achieve outstanding performance in terms of accuracy, these approaches divide the whole…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

This paper studies optical flow estimation, a critical task in motion analysis with applications in autonomous navigation, action recognition, and film production. Traditional optical flow methods require consecutive frames, which are often…

Key-point-based scene understanding is fundamental for autonomous driving applications. At the same time, optical flow plays an important role in many vision tasks. However, due to the implicit bias of equal attention on all points, classic…