Web: http://arxiv.org/abs/2209.08532

Sept. 20, 2022, 1:13 a.m. | Leonhard Sommer, Philipp Schröppel, Thomas Brox

cs.CV updates on arXiv.org arxiv.org

We propose SF2SE3, a novel approach to estimate scene dynamics in form of a
segmentation into independently moving rigid objects and their SE(3)-motions.
SF2SE3 operates on two consecutive stereo or RGB-D images. First, noisy scene
flow is obtained by application of existing optical flow and depth estimation
algorithms. SF2SE3 then iteratively (1) samples pixel sets to compute
SE(3)-motion proposals, and (2) selects the best SE(3)-motion proposal with
respect to a maximum coverage formulation. Finally, objects are formed by
assigning pixels …

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