论文标题

对抗性自我监督场景流估计

Adversarial Self-Supervised Scene Flow Estimation

论文作者

Zuanazzi, Victor, van Vugt, Joris, Booij, Olaf, Mettes, Pascal

论文摘要

这项工作提出了一种用于自我监督场景流量估计的公制学习方法。场景流估计是估计连续3D点云的3D流量向量的任务。这种流量向量是富有成果的,例如识别行动或避免碰撞的媒介。通过监督学习训练神经网络的场景流程是不切实际的,因为这需要在每个场景的每个新时间戳上为每个3D点进行手动注释。为此,我们寻求一种自我监督的方法,在该方法中,网络学习一个潜在指标,以区分流动估计和目标点云的分数。我们的对抗度量学习包括两点云的序列以及周期一致性损失的多尺度三重损失。此外,我们概述了自我监督场景流量估算的基准:场景流沙盒。该基准由五个数据集组成,旨在研究从移动对象到现实世界场景的复杂性渐进顺序流动估算的各个方面。基准上的实验评估表明,我们的方法获得了最新的自我监督场景流程结果,表现优于最近基于邻居的方法。我们使用拟议的基准测试来揭示缺点并了解各种培训设置。我们发现我们的设置捕获了运动连贯性并保留了当地的几何形状。另一方面,处理闭塞仍然是一个悬而未决的挑战。

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 actions, or avoiding collisions. Training a neural network via supervised learning for scene flow is impractical, as this requires manual annotations for each 3D point at each new timestamp for each scene. To that end, we seek for a self-supervised approach, where a network learns a latent metric to distinguish between points translated by flow estimations and the target point cloud. Our adversarial metric learning includes a multi-scale triplet loss on sequences of two-point clouds as well as a cycle consistency loss. Furthermore, we outline a benchmark for self-supervised scene flow estimation: the Scene Flow Sandbox. The benchmark consists of five datasets designed to study individual aspects of flow estimation in progressive order of complexity, from a moving object to real-world scenes. Experimental evaluation on the benchmark shows that our approach obtains state-of-the-art self-supervised scene flow results, outperforming recent neighbor-based approaches. We use our proposed benchmark to expose shortcomings and draw insights on various training setups. We find that our setup captures motion coherence and preserves local geometries. Dealing with occlusions, on the other hand, is still an open challenge.

扫码加入交流群

加入微信交流群

微信交流群二维码

扫码加入学术交流群,获取更多资源