Segmentation, the task of delineating and isolating distinct objects, is a fundamental problem in computer vision. Much of the current approaches are supervised, relying on expensive manual annotations.

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static.

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be explained by hypothesizing the object's independent motion, or by altering its depth. This ambiguity causes depth estimators to predict erroneous depth for moving objects. To resolve this issue, we introduce Dynamo-Depth, an unifying approach that disambiguates dynamical motion by jointly learning monocular depth, 3D independent flow field, and motion segmentation from unlabeled monocular videos. Specifically, we offer our key insight that a good initial estimation of motion segmentation is sufficient for jointly learning depth and independent motion despite the fundamental underlying ambiguity. Our proposed method achieves state-of-the-art performance on monocular depth estimation on Waymo Open and nuScenes Dataset with significant improvement in the depth of moving objects. Code and additional results are available at https://dynamo-depth.github.io.

Today, people can easily record memorable moments, ranging from concerts, sports events, lectures, family gatherings, and birthday parties with multiple consumer cameras. However, synchronizing these cross-camera streams remains challenging. Existing methods assume controlled settings, specific targets, manual correction, or costly hardware. We present VisualSync, an optimization framework based on multi-view dynamics that aligns unposed, unsynchronized videos at millisecond accuracy. Our key insight is that any moving 3D point, when co-visible in two cameras, obeys epipolar constraints once properly synchronized. To exploit this, VisualSync leverages off-the-shelf 3D reconstruction, feature matching, and dense tracking to extract tracklets, relative poses, and cross-view correspondences. It then jointly minimizes the epipolar error to estimate each camera's time offset. Experiments on four diverse, challenging datasets show that VisualSync outperforms baseline methods, achieving an median synchronization error below 50 ms.

Segmentation, the task of delineating and isolating distinct objects, is a fundamental problem in computer vision. Much of the current approaches are supervised, relying on expensive manual annotations.

We consider the problem of subspace clustering: given points that lie on or near the union of many low-dimensional linear subspaces, recover the subspaces. To this end, one first identifies sets of points close to the same subspace and uses the sets to estimate the subspaces. As the geometric structure of the clusters (linear subspaces) forbids proper performance of general distance based approaches such as K -means, many model-specific methods have been proposed. In this paper, we provide new simple and efficient algorithms for this problem. Our statistical analysis shows that the algorithms are guaranteed exact (perfect) clustering performance under certain conditions on the number of points and the affinity between subspaces. These conditions are weaker than those considered in the standard statistical literature. Experimental results on synthetic data generated from the standard unions of subspaces model demonstrate our theory. We also show that our algorithm performs competitively against state-of-the-art algorithms on real-world applications such as motion segmentation and face clustering, with much simpler implementation and lower computational cost.

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static.

This paper introduces a robust framework for motion segmentation and egomotion estimation using event-based normal flow, tailored specifically for neuromorphic vision sensors. In contrast to traditional methods that rely heavily on optical flow or explicit depth estimation, our approach exploits the sparse, high-temporal-resolution event data and incorporates geometric constraints between normal flow, scene structure, and inertial measurements. The proposed optimization-based pipeline iteratively performs event over-segmentation, isolates independently moving objects via residual analysis, and refines segmentations using hierarchical clustering informed by motion similarity and temporal consistency. Experimental results on the EVIMO2v2 dataset validate that our method achieves accurate segmentation and translational motion estimation without requiring full optical flow computation. This approach demonstrates significant advantages at object boundaries and offers considerable potential for scalable, real-time robotic and navigation applications.