相关论文: Enhanced Spatiotemporal Consistency for Image-to-L…

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…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal…

LiDAR-based world models offer more structured and geometry-aware representations than their image-based counterparts. However, existing LiDAR world models are narrowly trained; each model excels only in the domain for which it was built.…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

LiDAR representation learning aims to extract rich structural and semantic information from large-scale, readily available datasets, reducing reliance on costly human annotations. However, existing LiDAR representation strategies often…

Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Estimating continuous optical flow is a fundamental yet challenging problem in dynamic visual perception. Event-based cameras, with microsecond latency and high dynamic range, capture brightness changes asynchronously, offering a unique…

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…

LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current…

Scene flow, which provides the 3D motion field of the first frame from two consecutive point clouds, is vital for dynamic scene perception. However, contemporary scene flow methods face three major challenges. Firstly, they lack global flow…

Feature matching across video streams remains a cornerstone challenge in computer vision. Increasingly, robust multimodal matching has garnered interest in robotics, surveillance, remote sensing, and medical imaging. While traditional rely…

Reconstructing and tracking dynamic 3D scenes remains a fundamental challenge in computer vision. Existing approaches often decouple geometry from motion: multi-view reconstruction methods assume static scenes, while dynamic tracking…

This paper extends LiDAR-BIND, a modular multi-modal fusion framework that binds heterogeneous sensors (radar, sonar) to a LiDAR-defined latent space, with mechanisms that explicitly enforce temporal consistency. We introduce three…

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.,…

Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…

Self-supervised feed-forward methods for scene flow estimation offer real-time efficiency, but their supervision from two-frame point correspondences is unreliable and often breaks down under occlusions. Multi-frame supervision has the…