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

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

Human motion sensing plays a crucial role in smart systems for decision-making, user interaction, and personalized services. Extensive research that has been conducted is predominantly based on cameras, whose intrusive nature limits their…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…

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…

In this paper, we study the problem of jointly estimating the optical flow and scene flow from synchronized 2D and 3D data. Previous methods either employ a complex pipeline that splits the joint task into independent stages, or fuse 2D and…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

Modern optical flow methods make use of salient scene feature points detected and matched within the scene as a basis for sparse-to-dense optical flow estimation. Current feature detectors however either give sparse, non uniform point…

Motion prediction has been studied in different contexts with models trained on narrow distributions and applied to downstream tasks in human motion prediction and robotics. Simultaneously, recent efforts in scaling video prediction have…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Synthetic datasets play a critical role in pre-training CNN models for optical flow, but they are painstaking to generate and hard to adapt to new applications. To automate the process, we present AutoFlow, a simple and effective method to…

This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern autonomous vehicles. Such redundancy implicitly provides various…

Event-based cameras have shown great promise in a variety of situations where frame based cameras suffer, such as high speed motions and high dynamic range scenes. However, developing algorithms for event measurements requires a new class…

Scene flow estimation aims to generate the 3D motion field of points between two consecutive frames of point clouds, which has wide applications in various fields. Existing point-based methods ignore the irregularity of point clouds and…

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…

Understanding the world around us and making decisions about the future is a critical component to human intelligence. As autonomous systems continue to develop, their ability to reason about the future will be the key to their success.…

Due to the difficulty of obtaining ground-truth data for 4D radar scene flow estimation, previous methods typically rely on either self-supervised losses or cross-modal supervision using 3D LiDAR data, 2D images, and odometry. However,…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

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…

We propose a continuous optimization method for solving dense 3D scene flow problems from stereo imagery. As in recent work, we represent the dynamic 3D scene as a collection of rigidly moving planar segments. The scene flow problem then…

Motion detection is a fundamental but challenging task for autonomous driving. In particular scenes like highway, remote objects have to be paid extra attention for better controlling decision. Aiming at distant vehicles, we train a neural…