Flow4R: Unifying 4D Reconstruction and Tracking With Scene Flow

MCML Authors

Shenhan Qian

→ Group Daniel Cremers
 Computer Vision & Artificial Intelligence

Ganlin Zhang

→ Group Daniel Cremers
 Computer Vision & Artificial Intelligence

Daniel Cremers

Prof. Dr.

Director

Computer Vision & Artificial Intelligence

Abstract

Reconstructing and tracking dynamic 3D scenes remains a fundamental challenge in computer vision. Existing approaches often decouple geometry from motion: multi-view reconstruction methods assume static scenes, while dynamic tracking frameworks rely on explicit camera pose estimation or separate motion models. We propose Flow4R, a unified framework that treats camera-space scene flow as the central representation linking 3D structure, object motion, and camera motion. Flow4R predicts a minimal per-pixel property set-3D point position, scene flow, pose weight, and confidence-from two-view inputs using a Vision Transformer. This flow-centric formulation allows local geometry and bidirectional motion to be inferred symmetrically with a shared decoder in a single forward pass, without requiring explicit pose regressors or bundle adjustment. Trained jointly on static and dynamic datasets, Flow4R achieves state-of-the-art performance on 4D reconstruction and tracking tasks, demonstrating the effectiveness of the flow-central representation for spatiotemporal scene understanding.

misc QZW+26

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Preprint

Feb. 2026

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Authors

S. Qian • G. Zhang • S. Wu • D. Cremers

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Links

arXiv

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Research Area

 B1 | Computer Vision