Unifying Flow, Stereo and Depth Estimation
We present a unified formulation and model for three motion and 3D perception tasks: optical flow, rectified stereo matching and unrectified stereo depth estimation from posed images. Unlike previous specialized architectures for each specific task, we formulate all three tasks as a unified dense co...
| Publié dans: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 45(2023), 11 vom: 21. Nov., Seite 13941-13958 |
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| Auteur principal: | |
| Autres auteurs: | , , , , , |
| Format: | Article en ligne |
| Langue: | English |
| Publié: |
2023
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| Accès à la collection: | IEEE transactions on pattern analysis and machine intelligence |
| Sujets: | Journal Article |
| Résumé: | We present a unified formulation and model for three motion and 3D perception tasks: optical flow, rectified stereo matching and unrectified stereo depth estimation from posed images. Unlike previous specialized architectures for each specific task, we formulate all three tasks as a unified dense correspondence matching problem, which can be solved with a single model by directly comparing feature similarities. Such a formulation calls for discriminative feature representations, which we achieve using a Transformer, in particular the cross-attention mechanism. We demonstrate that cross-attention enables integration of knowledge from another image via cross-view interactions, which greatly improves the quality of the extracted features. Our unified model naturally enables cross-task transfer since the model architecture and parameters are shared across tasks. We outperform RAFT with our unified model on the challenging Sintel dataset, and our final model that uses a few additional task-specific refinement steps outperforms or compares favorably to recent state-of-the-art methods on 10 popular flow, stereo and depth datasets, while being simpler and more efficient in terms of model design and inference speed |
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| Description: | Date Revised 04.10.2023 published: Print-Electronic Citation Status PubMed-not-MEDLINE |
| ISSN: | 1939-3539 |
| DOI: | 10.1109/TPAMI.2023.3298645 |