Learning Optical Flow and Scene Flow With Bidirectional Camera-LiDAR Fusion

In this paper, we study the problem of jointly estimating the optical flow and scene flow from synchronized 2D and 3D data. Previous methods either employ a complex pipeline that splits the joint task into independent stages, or fuse 2D and 3D information in an "early-fusion" or "late...

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Veröffentlicht in:IEEE transactions on pattern analysis and machine intelligence. - 1979. - 46(2024), 4 vom: 07. März, Seite 2378-2395
1. Verfasser: Liu, Haisong (VerfasserIn)
Weitere Verfasser: Lu, Tao, Xu, Yihui, Liu, Jia, Wang, Limin
Format: Online-Aufsatz
Sprache:English
Veröffentlicht: 2024
Zugriff auf das übergeordnete Werk:IEEE transactions on pattern analysis and machine intelligence
Schlagworte:Journal Article
Beschreibung
Zusammenfassung:In this paper, we study the problem of jointly estimating the optical flow and scene flow from synchronized 2D and 3D data. Previous methods either employ a complex pipeline that splits the joint task into independent stages, or fuse 2D and 3D information in an "early-fusion" or "late-fusion" manner. Such one-size-fits-all approaches suffer from a dilemma of failing to fully utilize the characteristic of each modality or to maximize the inter-modality complementarity. To address the problem, we propose a novel end-to-end framework, which consists of 2D and 3D branches with multiple bidirectional fusion connections between them in specific layers. Different from previous work, we apply a point-based 3D branch to extract the LiDAR features, as it preserves the geometric structure of point clouds. To fuse dense image features and sparse point features, we propose a learnable operator named bidirectional camera-LiDAR fusion module (Bi-CLFM). We instantiate two types of the bidirectional fusion pipeline, one based on the pyramidal coarse-to-fine architecture (dubbed CamLiPWC), and the other one based on the recurrent all-pairs field transforms (dubbed CamLiRAFT). On FlyingThings3D, both CamLiPWC and CamLiRAFT surpass all existing methods and achieve up to a 47.9% reduction in 3D end-point-error from the best published result. Our best-performing model, CamLiRAFT, achieves an error of 4.26% on the KITTI Scene Flow benchmark, ranking 1st among all submissions with much fewer parameters. Besides, our methods have strong generalization performance and the ability to handle non-rigid motion
Beschreibung:Date Revised 08.03.2024
published: Print-Electronic
Citation Status PubMed-not-MEDLINE
ISSN:1939-3539
DOI:10.1109/TPAMI.2023.3330866