相关论文: E-MoFlow: Learning Egomotion and Optical Flow from…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

Egomotion estimation is crucial for applications such as autonomous navigation and robotics, where accurate and real-time motion tracking is required. However, traditional methods relying on inertial sensors are highly sensitive to external…

Event-based cameras provide accurate and high temporal resolution measurements for performing computer vision tasks in challenging scenarios, such as high-dynamic range environments and fast-motion maneuvers. Despite their advantages,…

Effective environment modeling is the foundation for autonomous driving, underpinning tasks from perception to planning. However, current paradigms often inadequately consider the feedback of ego motion to the observation, which leads to an…

We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we…

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…

Accurately analyzing the motion parts and their motion attributes in dynamic environments is crucial for advancing key areas such as embodied intelligence. Addressing the limitations of existing methods that rely on dense multi-view images…

We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…

We extend the concept of optical flow with spatiotemporal regularisation to a dynamic non-Euclidean setting. Optical flow is traditionally computed from a sequence of flat images. The purpose of this paper is to introduce variational motion…

While existing equivariant methods enhance data efficiency, they suffer from high computational intensity, reliance on single-modality inputs, and instability when combined with fast-sampling methods. In this work, we propose E3Flow, a…

Unsupervised optical flow estimators based on deep learning have attracted increasing attention due to the cost and difficulty of annotating for ground truth. Although performance measured by average End-Point Error (EPE) has improved over…

Current language-guided robotic manipulation systems often require low-level action-labeled datasets for imitation learning. While object-centric flow prediction methods mitigate this issue, they remain limited to scenarios involving rigid…

Significant attention has been attracted to deep learning-based depth estimates. Dynamic objects become the most hard problems in inter-frame-supervised depth estimates due to the uncertainty in adjacent frames. Thus, integrating optical…

Event cameras such as DAVIS can simultaneously output high temporal resolution events and low frame-rate intensity images, which own great potential in capturing scene motion, such as optical flow estimation. Most of the existing optical…

In this work, we propose a novel transformation for events from an event camera that is equivariant to optical flow under convolutions in the 3-D spatiotemporal domain. Events are generated by changes in the image, which are typically due…

This paper addresses the challenging unsupervised scene flow estimation problem by jointly learning four low-level vision sub-tasks: optical flow $\textbf{F}$, stereo-depth $\textbf{D}$, camera pose $\textbf{P}$ and motion segmentation…

We propose a method for object-aware 3D egocentric pose estimation that tightly integrates kinematics modeling, dynamics modeling, and scene object information. Unlike prior kinematics or dynamics-based approaches where the two components…

Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…

Event cameras are emerging vision sensors whose noise is challenging to characterize. Existing denoising methods for event cameras are often designed in isolation and thus consider other tasks, such as motion estimation, separately (i.e.,…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…