相关论文: Motion Cues from Image-based Point Tracking for Li…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

Scene flow estimation has been receiving increasing attention for 3D environment perception. Monocular scene flow estimation -- obtaining 3D structure and 3D motion from two temporally consecutive images -- is a highly ill-posed problem,…

This work proposes a metric learning approach for self-supervised scene flow estimation. Scene flow estimation is the task of estimating 3D flow vectors for consecutive 3D point clouds. Such flow vectors are fruitful, \eg for recognizing…

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…

Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

In this paper, we propose a learning-based moving-object tracking method utilizing our newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with most existing commercial LiDAR sensors, our FMCW LiDAR can…

Scene flow estimation aims to recover per-point motion from two adjacent LiDAR scans. However, in real-world applications such as autonomous driving, points rarely move independently of others, especially for nearby points belonging to the…

We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself…

Existing work on scene flow estimation focuses on autonomous driving and mobile robotics, while automated solutions are lacking for motion in nature, such as that exhibited by debris flows. We propose DEFLOW, a model for 3D motion…

Given the difficulty of manually annotating motion in video, the current best motion estimation methods are trained with synthetic data, and therefore struggle somewhat due to a train/test gap. Self-supervised methods hold the promise of…

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…

Unsupervised localization and segmentation are long-standing robot vision challenges that describe the critical ability for an autonomous robot to learn to decompose images into individual objects without labeled data. These tasks are…

Detecting moving objects in dynamic scenes from sequences of lidar scans is an important task in object tracking, mapping, localization, and navigation. Many works focus on changes detection in previously observed scenes, while a very…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…

Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…