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arXiv 2610.22371cs.CV

Gen4P:视频生成器是4D感知器

Gen4P: Video Generators are 4D Perceivers

Nanyang Technological University(南洋理工大学);University of Oxford(牛津大学)

Yitong Xia, Zeren Jiang, Chuanxia Zheng

AI总结:

Gen4P是将预训练视频生成器改造为前馈4D感知器的统一框架,通过按需查询等技术实现单目视频的4D几何与运动恢复,在多项任务上达到SOTA或竞争力性能,展现了视频生成预训练用于4D感知的潜力。

摘要:

我们提出Gen4P,这是一个从单目视频中恢复4D几何与运动的统一框架。我们表明,预训练的视频生成器可被重新用作无需迭代去噪的前馈4D感知器。基于按需查询机制,Gen4P通过单次编码器传递处理干净的视频潜变量,并通过轻量交叉注意力解码器预测所需的4D属性。按需查询公式实现了灵活的空间采样,我们提出的连续时间查询进一步提供了时间灵活性。为强化几何知识,我们提出一种直接的即插即用解决方案,通过融入预训练的视频深度LoRA作为冻结几何先验,在不增加额外可训练参数的情况下提升整体性能。Gen4P在3D点跟踪、视频深度与相机姿态估计任务上达到了SOTA或具有竞争力的性能。野外视频的定性结果表明,其在跟踪复杂运动的同时能保持精细结构。这些结果共同证明了视频生成预训练在统一4D感知方面的潜力,更多视觉结果可参见此https URL。

英文摘要:

We introduce Gen4P, a unified framework for recovering 4D geometry and motion from monocular video. We show that a pretrained video generator can be repurposed into a feed-forward 4D perceiver without iterative denoising. Building on on-demand querying, Gen4P processes clean video latents in a single encoder pass and predicts the requested 4D attributes through a lightweight cross-attention decoder. The on-demand query formulation enables flexible spatial sampling, and our proposed continuous-time queries further provide temporal flexibility. To strengthen geometric knowledge, we propose a straightforward plug-in solution by incorporating a pretrained video-depth LoRA as a frozen geometry prior, improving overall performance without adding extra trainable parameters. Gen4P achieves state-of-the-art or competitive performance on tasks of 3D point tracking, video depth and camera pose estimation. Qualitative results on in-the-wild videos illustrate its capability of tracking complex motion while maintaining the delicate structure. Together, these results demonstrate the potential of video generative pretraining for unified 4D perception. See this https URL for more visual results.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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