相关论文: Learning Temporal 3D Semantic Scene Completion via…

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…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

3D semantic scene completion (SSC) is an ill-posed perception task that requires inferring a dense 3D scene from limited observations. Previous camera-based methods struggle to predict accurate semantic scenes due to inherent geometric…

We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…

We introduce a new approach for multiscale 3Dsemantic scene completion from voxelized sparse 3D LiDAR scans. As opposed to the literature, we use a 2D UNet backbone with comprehensive multiscale skip connections to enhance feature flow,…

Compared with image scene parsing, video scene parsing introduces temporal information, which can effectively improve the consistency and accuracy of prediction. In this paper, we propose a Spatial-Temporal Semantic Consistency method to…

Previous dominant methods for scene flow estimation focus mainly on input from two consecutive frames, neglecting valuable information in the temporal domain. While recent trends shift towards multi-frame reasoning, they suffer from rapidly…

Maintaining consistent 3D scene representations over time is a significant challenge in computer vision. Updating 3D scenes from sparse-view observations is crucial for various real-world applications, including urban planning, disaster…

Scene flow represents the motion information of each point in the 3D point clouds. It is a vital downstream method applied to many tasks, such as motion segmentation and object tracking. However, there are always occlusion points between…

Monocular Semantic Scene Completion (MSSC) aims to predict the voxel-wise occupancy and semantic category from a single-view RGB image. Existing methods adopt a single-stage framework that aims to simultaneously achieve visible region…

Vision-based 3D semantic occupancy prediction is a critical task in 3D vision that integrates volumetric 3D reconstruction with semantic understanding. Existing methods, however, often rely on modular pipelines. These modules are typically…

We propose a novel model for 3D semantic completion from a single depth image, based on a single encoder and three separate generators used to reconstruct different geometric and semantic representations of the original and completed scene,…

Accurate 3D semantic occupancy perception is essential for autonomous driving in complex environments with diverse and irregular objects. While vision-centric methods suffer from geometric inaccuracies, LiDAR-based approaches often lack…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

The semantic synthesis of unseen scenes from multiple viewpoints is crucial for research in 3D scene understanding. Current methods are capable of rendering novel-view images and semantic maps by reconstructing generalizable Neural Radiance…

Semantic Scene Completion (SSC) aims to perform geometric completion and semantic segmentation simultaneously. Despite the promising results achieved by existing studies, the inherently ill-posed nature of the task presents significant…

We propose a novel scene flow method that captures 3D motions from point clouds without relying on ground-truth scene flow annotations. Due to the irregularity and sparsity of point clouds, it is expensive and time-consuming to acquire…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…

Transferring existing image-based detectors to the video is non-trivial since the quality of frames is always deteriorated by part occlusion, rare pose, and motion blur. Previous approaches exploit to propagate and aggregate features across…