相关论文: Lie Flow: Video Dynamic Fields Modeling and Predic…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

Designing a 3D representation of a dynamic scene for fast optimization and rendering is a challenging task. While recent explicit representations enable fast learning and rendering of dynamic radiance fields, they require a dense set of…

Video salient object detection (SOD) relies on motion cues to distinguish salient objects from backgrounds, but training such models is limited by scarce video datasets compared to abundant image datasets. Existing approaches that use…

Representing 3D surfaces as level sets of continuous functions over $\mathbb{R}^3$ is the common denominator of neural implicit representations, which recently enabled remarkable progress in geometric deep learning and computer vision…

Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts, vision and robotics demand scenes that mirror real-world…

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…

Learning accurate scene reconstruction without pose priors in neural radiance fields is challenging due to inherent geometric ambiguity. Recent development either relies on correspondence priors for regularization or uses off-the-shelf flow…

Self-supervised representation learning is able to learn semantically meaningful features; however, much of its recent success relies on multiple crops of an image with very few objects. Instead of learning view-invariant representation…

Neural radiance field (NeRF) has achieved great success in novel view synthesis and 3D representation for static scenarios. Existing dynamic NeRFs usually exploit a locally dense grid to fit the deformation field; however, they fail to…

Manipulating deformable objects is a ubiquitous task in household environments, demanding adequate representation and accurate dynamics prediction due to the objects' infinite degrees of freedom. This work proposes DeformNet, which utilizes…

Modeling dynamic scenes is important for many applications such as virtual reality and telepresence. Despite achieving unprecedented fidelity for novel view synthesis in dynamic scenes, existing methods based on Neural Radiance Fields…

When a three-dimensional object moves relative to an observer, a change occurs on the observer's image plane and in the visual representation computed by a learned model. Starting with the idea that a good visual representation is one that…

Recent multimodal fusion methods, integrating images with LiDAR point clouds, have shown promise in scene flow estimation. However, the fusion of 4D millimeter wave radar and LiDAR remains unexplored. Unlike LiDAR, radar is cheaper, more…

Scene flow estimation predicts the 3D motion at each point in successive LiDAR scans. This detailed, point-level, information can help autonomous vehicles to accurately predict and understand dynamic changes in their surroundings. Current…

Reasoning the 3D structure of a non-rigid dynamic scene from a single moving camera is an under-constrained problem. Inspired by the remarkable progress of neural radiance fields (NeRFs) in photo-realistic novel view synthesis of static…

Reliable 3D dynamic perception requires models that can anticipate motion beyond predefined categories, yet progress is hindered by the scarcity of dense, high-quality motion annotations. While self-supervision on unlabeled real data offers…

Neural radiance fields (NeRFs) have emerged as a prominent pre-training paradigm for vision-centric autonomous driving, which enhances 3D geometry and appearance understanding in a fully self-supervised manner. To apply NeRF-based…

Multi-objective optimization problems are ubiquitous in robotics, e.g., the optimization of a robot manipulation task requires a joint consideration of grasp pose configurations, collisions and joint limits. While some demands can be easily…

We address the problem of scene flow: given a pair of stereo or RGB-D video frames, estimate pixelwise 3D motion. We introduce RAFT-3D, a new deep architecture for scene flow. RAFT-3D is based on the RAFT model developed for optical flow…

Motion serves as a powerful cue for scene perception and understanding by separating independently moving surfaces and organizing the physical world into distinct entities. We introduce SIRE, a self-supervised method for motion discovery of…