Any4D: 統合フィードフォワード計量4D再構成
Any4D: Unified Feed-Forward Metric 4D Reconstruction
多視点トランスフォーマーにより、Nフレームのピクセル単位の動きと形状を直接予測する4D再構成手法を提案。RGB-DやIMU、レーダーなど追加センサーも利用可能で、高精度かつ高速。
詳しい要約
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著者: Jay Karhade, Nikhil Keetha, Yuchen Zhang, Tanisha Gupta, Akash Sharma, Sebastian Scherer, Deva Ramanan
分類: cs.CV, cs.AI, cs.LG, cs.RO
原文アブストラクト
We present Any4D, a scalable multi-view transformer for metric-scale, dense feed-forward 4D reconstruction. Any4D directly generates per-pixel motion and geometry predictions for N frames, in contrast to prior work that typically focuses on either 2-view dense scene flow or sparse 3D point tracking. Moreover, unlike other recent methods for 4D reconstruction from monocular RGB videos, Any4D can process additional modalities and sensors such as RGB-D frames, IMU-based egomotion, and Radar Doppler measurements, when available. One of the key innovations that allows for such a flexible framework is a modular representation of a 4D scene; specifically, per-view 4D predictions are encoded using a variety of egocentric factors (depthmaps and camera intrinsics) represented in local camera coordinates, and allocentric factors (camera extrinsics and scene flow) represented in global world coordinates. We achieve superior performance across diverse setups - both in terms of accuracy (2-3X lower error) and compute efficiency (15X faster), opening avenues for multiple downstream applications.
