相关论文: Weakly Supervised Cross-Modal Learning for 4D Rada…

This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern autonomous vehicles. Such redundancy implicitly provides various…

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…

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…

Accurate 3D scene flow estimation is critical for autonomous systems to navigate dynamic environments safely, but creating the necessary large-scale, manually annotated datasets remains a significant bottleneck for developing robust…

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…

This work proposes a mmWave radar's scene flow estimation framework supervised by data from a widespread visual-inertial (VI) sensor suite, allowing crowdsourced training data from smart vehicles. Current scene flow estimation methods for…

Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robustness, they predominantly rely on fixed or weakly adaptive…

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point's movement. Scene flow estimation is used in various applications such as autonomous driving fields,…

A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space.…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

Scene flow is the task of estimating 3D motion vectors to individual points of a dynamic 3D scene. Motion vectors have shown to be beneficial for downstream tasks such as action classification and collision avoidance. However, data…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

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…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Monocular 3D object detection has become a mainstream approach in automatic driving for its easy application. A prominent advantage is that it does not need LiDAR point clouds during the inference. However, most current methods still rely…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…