相关论文: 4D Contrastive Superflows are Dense 3D Representat…

Contrastive learning applied to self-supervised representation learning has seen a resurgence in recent years, leading to state of the art performance in the unsupervised training of deep image models. Modern batch contrastive approaches…

Learning rich visual representations using contrastive self-supervised learning has been extremely successful. However, it is still a major question whether we could use a similar approach to learn superior auditory representations. In this…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Pre-trained on extensive and diverse multi-modal datasets, 2D foundation models excel at addressing 2D tasks with little or no downstream supervision, owing to their robust representations. The emergence of 2D-to-3D distillation frameworks…

Is a deep learning model capable of understanding systems governed by certain first principle laws by only observing the system's output? Can deep learning learn the underlying physics and honor the physics when making predictions? The…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

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…

Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

Self-supervised representation learning is a critical problem in computer vision, as it provides a way to pretrain feature extractors on large unlabeled datasets that can be used as an initialization for more efficient and effective…

Recent self-supervised contrastive methods have been able to produce impressive transferable visual representations by learning to be invariant to different data augmentations. However, these methods implicitly assume a particular set of…

Diffusion models excel at generation, but their latent spaces are high dimensional and not explicitly organized for interpretation or control. We introduce ConDA (Contrastive Diffusion Alignment), a plug-and-play geometry layer that applies…

This paper presents SimCLR: a simple framework for contrastive learning of visual representations. We simplify recently proposed contrastive self-supervised learning algorithms without requiring specialized architectures or a memory bank.…

Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Contrastive representation learning has been recently proved to be very efficient for self-supervised training. These methods have been successfully used to train encoders which perform comparably to supervised training on downstream…

Learning a powerful representation from point clouds is a fundamental and challenging problem in the field of computer vision. Different from images where RGB pixels are stored in the regular grid, for point clouds, the underlying semantic…

Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…