arXiv:2605.24604cs.CV2026-05

基于事件相机的连续光流估计,实时且高精度。

LC-Flow: Learning Local Continuous Optical Flow and Confidence from events

论文配图:LC-Flow: Learning Local Continuous Optical Flow and Confidence from events
图 1 · 摘自论文原文
  • 用局部事件构建持续递归网络,保留运动历史。
  • 在MVSEC和DSEC上优于现有局部方法,新纪录超越全帧模型。
  • 联合学习置信度,有效处理稀疏事件与视差问题。

事件相机以微秒级分辨率异步捕捉亮度变化,但现有光流方法未能充分利用其时间连续性。基于帧的方法引入人为积累延迟并易过拟合,而基于模型的局部方法无状态,丢弃预测间的时序历史,导致光流不准确。我们提出LC-Flow,首个纯基于局部事件、具备时间连续性的学习型光流估计器。核心是一个连续局部循环网络,每空间网格维护持久隐藏状态,随事件到来逐步累积时间上下文。不同于固定积累窗口的帧方法,也不同于每步重算运动的无状态方法,LC-Flow可在任意时间戳生成稀疏局部光流,并保留完整运动历史。为解决局部观测的固有模糊性,我们联合学习置信度评分,量化每项预测的可靠性,显式处理事件稀疏性和视差问题。该置信度双重作用:过滤不可靠估计用于下游任务(如视觉里程计),并作为多尺度置信加权聚合的依据,从稀疏局部输出重建全局一致光流。LC-Flow在MVSEC和DSEC上达到局部方法最优性能,其置信加权聚合更在MVSEC上建立整体新纪录,超越依赖全局空间先验的重型帧基网络。

原文摘要 · Abstract (English)

Event cameras capture brightness changes asynchronously with microsecond resolution, yet existing optical flow methods fail to fully exploit this temporal continuity. Frame-based approaches impose artificial accumulation latency and suffer from domain overfitting, while model-based local methods operate statelessly, discarding temporal history between predictions and yielding inaccurate flows. We propose \textbf{LC-Flow}, the first temporally continuous, learning-based optical flow estimator that operates purely from local events. At its core, a Continuous Local Recurrent Network maintains persistent hidden states per spatial grid, incrementally accumulating temporal context as events arrive. Unlike frame-based methods constrained to fixed accumulation windows, and unlike stateless model-based methods that recompute motion from scratch at each step, LC-Flow produces sparse local flow estimates at arbitrary timestamps with full motion history. To address the inherent ambiguity of local observations, we jointly learn a confidence score that quantifies the reliability of each prediction, explicitly handling event sparsity and the aperture problem. This confidence serves a dual role: filtering unreliable estimates for downstream tasks such as visual odometry, and providing principled weights for a multi-scale confidence-guided aggregation that reconstructs globally consistent flow from the sparse local outputs. LC-Flow achieves state-of-the-art performance among local methods on both MVSEC and DSEC, while the confidence-guided aggregation establishes a new overall state-of-the-art on the MVSEC benchmark, surpassing heavy frame-based networks that rely on global spatial priors.

光流估计事件相机连续递归置信度

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