相关论文: SCFlow2: Plug-and-Play Object Pose Refiner with Sh…

Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…

Optical flow estimation is essential for video processing tasks, such as restoration and action recognition. The quality of videos is constantly increasing, with current standards reaching 8K resolution. However, optical flow methods are…

Although methods for estimating the pose of objects in indoor scenes have achieved great success, the pose estimation of underwater objects remains challenging due to difficulties brought by the complex underwater environment, such as…

Current feed-forward 3D/4D reconstruction systems rely on dense geometry and pose supervision -- expensive to obtain at scale and particularly scarce for dynamic real-world scenes. We present Flow3r, a framework that augments visual…

Over four decades, the majority addresses the problem of optical flow estimation using variational methods. With the advance of machine learning, some recent works have attempted to address the problem using convolutional neural network…

Explicit 3D representations have already become an essential medium for 3D simulation and understanding. However, the most commonly used point cloud and 3D Gaussian Splatting (3DGS) each suffer from non-photorealistic rendering and…

When interacting with highly dynamic environments, scene flow allows autonomous systems to reason about the non-rigid motion of multiple independent objects. This is of particular interest in the field of autonomous driving, in which many…

Conventional physically based rendering (PBR) pipelines generate photorealistic images through computationally intensive light transport simulations. Although recent deep learning approaches leverage diffusion model priors with geometry…

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…

Real-time high-accuracy optical flow estimation is critical for a variety of real-world robotic applications. However, current learning-based methods often struggle to balance accuracy and computational efficiency: methods that achieve high…

Scene flow estimation is a crucial component in the development of autonomous driving and 3D robotics, providing valuable information for environment perception and navigation. Despite the advantages of learning-based scene flow estimation…

In this work, we first propose a fully differentiable Many-to-Many (M2M) splatting framework to interpolate frames efficiently. Given a frame pair, we estimate multiple bidirectional flows to directly forward warp the pixels to the desired…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

Scene flow in 3D point clouds plays an important role in understanding dynamic environments. Although significant advances have been made by deep neural networks, the performance is far from satisfactory as only per-point translational…

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction…

Iterative refinement -- start with a random guess, then iteratively improve the guess -- is a useful paradigm for representation learning because it offers a way to break symmetries among equally plausible explanations for the data. This…

Reconstructing a dynamic scene from image inputs is a fundamental computer vision task with many downstream applications. Despite recent advancements, existing approaches still struggle to achieve high-quality reconstructions from unseen…

In this paper, we propose a unified method to jointly learn optical flow and stereo matching. Our first intuition is stereo matching can be modeled as a special case of optical flow, and we can leverage 3D geometry behind stereoscopic…

We present a method for decomposing the 3D scene flow observed from a moving stereo rig into stationary scene elements and dynamic object motion. Our unsupervised learning framework jointly reasons about the camera motion, optical flow, and…

Pose guided synthesis aims to generate a new image in an arbitrary target pose while preserving the appearance details from the source image. Existing approaches rely on either hard-coded spatial transformations or 3D body modeling. They…