相关论文: FlowTrack: Point-level Flow Network for 3D Single …

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

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…

Event-based cameras can overpass frame-based cameras limitations for important tasks such as high-speed motion detection during self-driving cars navigation in low illumination conditions. The event cameras' high temporal resolution and…

We propose to modify the common training protocols of optical flow, leading to sizable accuracy improvements without adding to the computational complexity of the training process. The improvement is based on observing the bias in sampling…

Accurate and reliable tracking of multiple moving objects in 3D space is an essential component of urban scene understanding. This is a challenging task because it requires the assignment of detections in the current frame to the predicted…

Modern robotic systems are required to operate in dense dynamic environments, requiring highly accurate real-time track identification and estimation. For 3D multi-object tracking, recent approaches process a single measurement frame…

Single object tracking(SOT) relies on precise object bounding box initialization. In this paper, we reconsidered the deficiencies in the current approaches to initializing single object trackers and propose a new paradigm for single object…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

Multi-object tracking (MOT) is a critical technology in computer vision, designed to detect multiple targets in video sequences and assign each target a unique ID per frame. Existed MOT methods excel at accurately tracking multiple objects…

6D object pose tracking has been extensively studied in the robotics and computer vision communities. The most promising solutions, leveraging on deep neural networks and/or filtering and optimization, exhibit notable performance on…

Panoramic imagery, with its 360{\deg} field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored…

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…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Optical flow is an indispensable building block for various important computer vision tasks, including motion estimation, object tracking, and disparity measurement. In this work, we propose TransFlow, a pure transformer architecture for…

3D single object tracking (SOT) is an indispensable part of automated driving. Existing approaches rely heavily on large, densely labeled datasets. However, annotating point clouds is both costly and time-consuming. Inspired by the great…

We present DroTrack, a high-speed visual single-object tracking framework for drone-captured video sequences. Most of the existing object tracking methods are designed to tackle well-known challenges, such as occlusion and cluttered…

Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…

Robotic instruction following tasks require seamless integration of visual perception, task planning, target localization, and motion execution. However, existing task planning methods for instruction following are either data-driven or…

3D multi-object tracking is a critical and challenging task in the field of autonomous driving. A common paradigm relies on modeling individual object motion, e.g., Kalman filters, to predict trajectories. While effective in simple…