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

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

4D point cloud videos capture rich spatial and temporal dynamics of scenes which possess unique values in various 4D understanding tasks. However, most existing methods work in the spatiotemporal domain where the underlying geometric…

With the development of 3D laser scanning techniques and depth sensors, 3D dynamic point clouds have attracted increasing attention as a representation of 3D objects in motion, enabling various applications such as 3D immersive…

In 3D point cloud object tracking, the motion-centric methods have emerged as a promising avenue due to its superior performance in modeling inter-frame motion. However, existing two-stage motion-based approaches suffer from fundamental…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…

We introduce a novel multiframe scene flow approach that jointly optimizes the consistency of the patch appearances and their local rigid motions from RGB-D image sequences. In contrast to the competing methods, we take advantage of an…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

Fluid simulation is an important research topic in computer graphics (CG) and animation in video games. Traditional methods based on Navier-Stokes equations are computationally expensive. In this paper, we treat fluid motion as point cloud…

Point cloud videos can faithfully capture real-world spatial geometries and temporal dynamics, which are essential for enabling intelligent agents to understand the dynamically changing world. However, designing an effective 4D backbone…

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…

Neural Scene Flow Prior (NSFP) and Fast Neural Scene Flow (FNSF) have shown remarkable adaptability in the context of large out-of-distribution autonomous driving. Despite their success, the underlying reasons for their astonishing…

Estimating the pose of a moving camera from monocular video is a challenging problem, especially due to the presence of moving objects in dynamic environments, where the performance of existing camera pose estimation methods are susceptible…

Generative models have proven effective at modeling 3D shapes and their statistical variations. In this paper we investigate their application to point clouds, a 3D shape representation widely used in computer vision for which, however,…

Current methods for dense 3D point tracking in dynamic scenes typically rely on pairwise processing, require known camera poses, or assume temporal ordering of input frames, thereby constraining their flexibility and applicability.…

Flow-matching models have recently emerged as a powerful framework for continuous generative modeling, including 3D point cloud synthesis. However, their deployment is limited by the need for multiple sequential sampling steps at inference…

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…