On KITTI, we achieve an error of 5.77, outperforming the best published method (6.31), despite using no object instance supervision.ĪB - We address the problem of scene flow: given a pair of stereo or RGB-D video frames, estimate pixelwise 3D motion. On FlyingThings3D, under the two-view evaluation, we improved the best published accuracy (δ < 0.05) from 34.3% to 83.7%. Experiments show that RAFT-3D achieves state-of-the-art performance. Integral to rigid-motion embeddings is Dense-SE3, a differentiable layer that enforces geometric consistency of the embeddings. A key innovation of RAFT-3D is rigid-motion embeddings, which represent a soft grouping of pixels into rigid objects. RAFT-3D is based on the RAFT model developed for optical flow but iteratively updates a dense field of pixelwise SE3 motion instead of 2D motion. We introduce RAFT-3D, a new deep architecture for scene flow. N2 - We address the problem of scene flow: given a pair of stereo or RGB-D video frames, estimate pixelwise 3D motion. The four most common reflections are performed over the following lines of reflection: the $x$-axis, the $y$-axis, $y =x$, and $y =-x$.T2 - 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2021Īcknowledgements: This research is partially supported by the National Science Foundation under Grant IIS-1942981. However, the orientation of the points or vertices changes when reflecting an object over a line of reflection. In fact, in reflection, the angle measures of the objects, parallelism, and side lengths will remain intact. The distances between the vertices of the triangles from the line of reflection will always be the same. The graph above showcases how a pre-image, $\Delta ABC$, is reflected over the horizontal line of reflection $y = 4$. This makes reflection a rigid transformation. When learning about point and triangle reflection, it has been established that when reflecting a pre-image, the resulting image changes position but retains its shape and size. In reflection, the position of the points or object changes with reference to the line of reflection. Once we’ve established their foundations, it will be easier to work on more complex examples of rigid transformations. We’ll explore different examples of reflection, translation and rotation as rigid transformations. It’s time to explore these three examples of basic rigid transformations first. This makes this transformation a rigid transformation.
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