TY - GEN
T1 - Occlusion Guided Self-supervised Scene Flow Estimation on 3D Point Clouds
AU - Ouyang, Bojun
AU - Raviv, Dan
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR,Robotics,and Autonomous driving. The lack of real,non-simulated,labeled data for this task emphasizes the importance of self- or un-supervised deep architectures. This work presents a new self-supervised training method and an architecture for the 3D scene flow estimation under occlusions. Here we show that smart multi-layer fusion between flow prediction and occlusion detection outperforms traditional architectures by a large margin for occluded and non-occluded scenarios. We report state-of-the-art results on Flyingthings3D and KITTI datasets for both the supervised and self-supervised training.1
AB - Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR,Robotics,and Autonomous driving. The lack of real,non-simulated,labeled data for this task emphasizes the importance of self- or un-supervised deep architectures. This work presents a new self-supervised training method and an architecture for the 3D scene flow estimation under occlusions. Here we show that smart multi-layer fusion between flow prediction and occlusion detection outperforms traditional architectures by a large margin for occluded and non-occluded scenarios. We report state-of-the-art results on Flyingthings3D and KITTI datasets for both the supervised and self-supervised training.1
UR - http://www.scopus.com/inward/record.url?scp=85125015159&partnerID=8YFLogxK
U2 - 10.1109/3DV53792.2021.00087
DO - 10.1109/3DV53792.2021.00087
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AN - SCOPUS:85125015159
T3 - Proceedings - 2021 International Conference on 3D Vision, 3DV 2021
SP - 782
EP - 791
BT - Proceedings - 2021 International Conference on 3D Vision, 3DV 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on 3D Vision, 3DV 2021
Y2 - 1 December 2021 through 3 December 2021
ER -