相关论文: PCSTracker: Long-Term Scene Flow Estimation for Po…

Point cloud frame interpolation is a challenging task that involves accurate scene flow estimation across frames and maintaining the geometry structure. Prevailing techniques often rely on pre-trained motion estimators or intensive…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

Low-resolution point clouds are challenging for object detection methods due to their sparsity. Densifying the present point cloud by concatenating it with its predecessors is a popular solution to this challenge. Such concatenation is…

Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Scene flow methods based on deep learning have achieved impressive performance. However, current top-performing methods still struggle with ill-posed regions, such as extensive flat regions or occlusions, due to insufficient local evidence.…

We study the problem of self-supervised 3D scene flow estimation from real large-scale raw point cloud sequences, which is crucial to various tasks like trajectory prediction or instance segmentation. In the absence of ground truth scene…

Scene flow estimation, which extracts point-wise motion between scenes, is becoming a crucial task in many computer vision tasks. However, all of the existing estimation methods utilize only the unidirectional features, restricting the…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

Scene flow estimation aims to generate the 3D motion field of points between two consecutive frames of point clouds, which has wide applications in various fields. Existing point-based methods ignore the irregularity of point clouds and…

Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…

We tackle the task of scene flow estimation from point clouds. Given a source and a target point cloud, the objective is to estimate a translation from each point in the source point cloud to the target, resulting in a 3D motion vector…

Point cloud videos capture dynamic 3D motion while reducing the effects of lighting and viewpoint variations, making them highly effective for recognizing subtle and continuous human actions. Although Selective State Space Models (SSMs)…

Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…

The proposed RMS-FlowNet is a novel end-to-end learning-based architecture for accurate and efficient scene flow estimation which can operate on point clouds of high density. For hierarchical scene flow estimation, the existing methods…

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous…

We propose ProTracker, a novel framework for accurate and robust long-term dense tracking of arbitrary points in videos. Previous methods relying on global cost volumes effectively handle large occlusions and scene changes but lack…

Point cloud sequences are irregular and unordered in the spatial dimension while exhibiting regularities and order in the temporal dimension. Therefore, existing grid based convolutions for conventional video processing cannot be directly…

We propose and study a method called FLOT that estimates scene flow on point clouds. We start the design of FLOT by noticing that scene flow estimation on point clouds reduces to estimating a permutation matrix in a perfect world. Inspired…

This paper addresses the problem of compression of 3D point cloud sequences that are characterized by moving 3D positions and color attributes. As temporally successive point cloud frames are similar, motion estimation is key to effective…