Paper Citation Record · LEDGER

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow

As of 23 August 2026, this Paper Citation Record lists 40 of 40 outbound references and 1 inbound Pith citation observation for arXiv:2506.01443.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2506.01443 v1

Coverage vector

measured 40 of 40 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T11:48:04.355841Z

measured 41 of 41 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-23T06:30:58.430688+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-07T11:47:50.624842Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: pith, observed 2026-08-07T11:48:04.424538Z

Reference resolution

40 of 40 outbound references displayed

verified exact2
verified fuzzy33
unresolved4
parse uncertain0
malformed identifier1
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 1d19e59b-11ec-43b1-9046-c8a26dc73abf · outbound

This paper cites MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow

Reference 1

Resolution: verified exact; local_arxiv, observed 2026-08-07T11:48:04.440574Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 9a771342-a9c8-4210-99fa-891e5be346af · outbound

This paper cites In case of stereo images, i.e.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow In case of stereo images, i.e

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:06.404632Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 99a48b39-5b9a-4528-b791-801ac2e039e8 · outbound

This paper cites an unresolved cited work.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Unresolved cited work

Reference 3

Resolution: unresolved; raw_fallback, observed 2026-08-07T11:48:06.339470Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 20b85c02-441a-4c9c-86ee-82ae8d28648b · outbound

This paper cites As in [9], upsampling of the SE(3) field is done in the Lie algebra.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow As in [9], upsampling of the SE(3) field is done in the Lie algebra

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:06.258178Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 6422d22c-82e1-4fdc-95d9-640e1687079e · outbound

This paper cites Encoders The matching process starts by extracting image features from both frames and context features from the first frame.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Encoders The matching process starts by extracting image features from both frames and context features from the first frame

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:06.184921Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 898c12ae-001a-4c6d-83f5-c61a6bed27ce · outbound

This paper cites For the latter, we increase the Dense-SE3 neighbor- hood radius to 64 due to the higher resolution.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow For the latter, we increase the Dense-SE3 neighbor- hood radius to 64 due to the higher resolution

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:06.113927Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 732e1a49-b9f6-41b0-b686-45eea730bd77 · outbound

This paper cites PWOC-3D: Deep occlusion-aware end-to- end scene flow estimation,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow PWOC-3D: Deep occlusion-aware end-to- end scene flow estimation,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.451776Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 8db14935-8c02-4376-b5b9-db56e1c6fedd · outbound

This paper cites an unresolved cited work.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Unresolved cited work

Reference 8

Resolution: unresolved; raw_fallback, observed 2026-08-07T11:48:05.961638Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 9382b1e3-5954-4e0c-8568-f4e536f45268 · outbound

This paper cites Object scene flow for au- tonomous vehicles,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Object scene flow for au- tonomous vehicles,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.888423Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation c0239752-ff01-4d0b-a53c-4b4b8984adef · outbound

This paper cites Semantically coherent 4d scene flow of dynamic scenes,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Semantically coherent 4d scene flow of dynamic scenes,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.826482Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 389b9d00-b506-4986-921a-d9d75daf6274 · outbound

This paper cites Surgem: A vision-based surgery environment model- ing framework for constructing a digital twin toward au- tonomous soft tissue manipulation,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Surgem: A vision-based surgery environment model- ing framework for constructing a digital twin toward au- tonomous soft tissue manipulation,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.745351Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 4f5320d3-8ed7-42ad-bec1-f9423c9c9fe6 · outbound

This paper cites Three-dimensional scene flow,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Three-dimensional scene flow,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.674735Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 48c5b594-963c-422f-b8e8-e76a5052058e · outbound

This paper cites Multi-scale 3d scene flow from binocular stereo sequences,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Multi-scale 3d scene flow from binocular stereo sequences,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.602395Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 46411367-054f-416d-a4a2-b98136c34716 · outbound

This paper cites Multi-view scene flow estimation: a view centered variational approach,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Multi-view scene flow estimation: a view centered variational approach,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.529717Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 40026172-e97d-46d4-8738-491cfea87a28 · outbound

This paper cites CCMR: High resolution optical flow estimation via coarse-to- fine context-guided motion reasoning,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow CCMR: High resolution optical flow estimation via coarse-to- fine context-guided motion reasoning,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.919808Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation f847c1d1-37fb-4c95-83f6-57d823593213 · outbound

This paper cites RAFT: Recurrent all-pairs field transforms for optical flow,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow RAFT: Recurrent all-pairs field transforms for optical flow,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.362966Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 77dbbc84-ef21-49d6-9f9e-0ef95599e17d · outbound

This paper cites RAFT-3D: Scene flow using rigid-motion embeddings,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow RAFT-3D: Scene flow using rigid-motion embeddings,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.275674Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation a367947e-3a46-428c-a1b8-43737b7dcdbe · outbound

This paper cites Cam- LiFlow: bidirectional camera-lidar fusion for joint opti- cal flow and scene flow estimation,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Cam- LiFlow: bidirectional camera-lidar fusion for joint opti- cal flow and scene flow estimation,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.206258Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 8fbdd1ed-da41-4ea9-89e3-e573faa7cae8 · outbound

This paper cites Learning optical flow and scene flow with bidirectional camera- lidar fusion,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Learning optical flow and scene flow with bidirectional camera- lidar fusion,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.137379Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation d7917d4b-0373-4bf2-9dbf-f1249b3f49de · outbound

This paper cites At- tentive multimodal fusion for optical and scene flow,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow At- tentive multimodal fusion for optical and scene flow,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:05.061995Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 214cce59-0769-4fc8-a08e-32e0d0b630f7 · outbound

This paper cites ScaleFlow++: Robust and Accurate Estimation of 3D Motion from Video.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow ScaleFlow++: Robust and Accurate Estimation of 3D Motion from Video

Reference 21

Resolution: verified exact; local_arxiv, observed 2026-08-07T11:48:04.407317Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 82b64cf4-a9be-4278-a369-9eed62dbfee9 · outbound

This paper cites MS-RAFT+: High resolution multi-scale RAFT,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow MS-RAFT+: High resolution multi-scale RAFT,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.991487Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 94c6b917-e555-4ffe-bc43-fa2bd7eb8d14 · outbound

This paper cites Deep residual learning for image recognition,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Deep residual learning for image recognition,

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-07T11:48:04.252819Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c2a5e4f6-4330-479e-886c-9e0f559d3813 · outbound

This paper cites We then proceed with fine-tuning on KITTI [1] or Spring [25].

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow We then proceed with fine-tuning on KITTI [1] or Spring [25]

Reference 24

Resolution: malformed identifier; raw_fallback, observed 2026-08-07T11:48:06.032893Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation a6c11445-16e7-4bf1-b021-cecd11d6c44f · outbound

This paper cites Unifying flow, stero and depth estima- tion,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Unifying flow, stero and depth estima- tion,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.872672Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 47741efe-0bbd-4125-b084-c9cf355e57ed · outbound

This paper cites RAFT-stereo: Multi- level recurrent field transforms for stereo matching,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow RAFT-stereo: Multi- level recurrent field transforms for stereo matching,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.850934Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation a163240a-c06a-476f-9ba2-4c62255b2bff · outbound

This paper cites Practical stereo matching via cascaded recurrent network with adaptive correlation,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Practical stereo matching via cascaded recurrent network with adaptive correlation,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.829124Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation f95c1213-96a1-4eb6-9364-86ff7d36f31c · outbound

This paper cites Multi-scale bidirectional re- current network with hybrid correlation for point cloud based scene flow estimation,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Multi-scale bidirectional re- current network with hybrid correlation for point cloud based scene flow estimation,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.805123Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 73f60556-771e-454b-90c1-0529c9e4c2de · outbound

This paper cites Combining RAFT- based stereo disparity and optical flow models for scene flow estimation,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Combining RAFT- based stereo disparity and optical flow models for scene flow estimation,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.786268Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 96c82c6f-3cdb-49cb-afa5-03fd0d750446 · outbound

This paper cites SF2SE3: Clus- tering scene flow into SE(3)-motions via proposal and selection,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow SF2SE3: Clus- tering scene flow into SE(3)-motions via proposal and selection,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.765271Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 1207f94f-080f-487a-8382-5955708f94e0 · outbound

This paper cites CroCo v2: Improved cross-view completion pre-training for stereo matching and optical flow,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow CroCo v2: Improved cross-view completion pre-training for stereo matching and optical flow,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.741654Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 9e2825d6-4e20-4e22-b794-a9278d0dbb8a · outbound

This paper cites A large dataset to train convolutional networks for disparity, optical flow, and scene flow estimation,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow A large dataset to train convolutional networks for disparity, optical flow, and scene flow estimation,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.712554Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 75e582e5-5c0f-4b35-a44f-094e052c68e5 · outbound

This paper cites Spring: A high-resolution high-detail dataset and benchmark for scene flow, optical flow and stereo,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Spring: A high-resolution high-detail dataset and benchmark for scene flow, optical flow and stereo,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.689661Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation dd8613e5-25c2-4881-bd6a-d0754d12e267 · outbound

This paper cites Learning to segment rigid motions from two frames,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Learning to segment rigid motions from two frames,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.662974Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation b289695a-0dce-43f1-8ccb-4a23d33f0294 · outbound

This paper cites Feature pyramid networks for object detection,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Feature pyramid networks for object detection,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.629441Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation f583cdc9-404f-4180-b428-956311c2a2dc · outbound

This paper cites Object scene flow for au- tonomous vehicles,.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Object scene flow for au- tonomous vehicles,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.607268Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 6c91eab4-29e3-4e1c-af29-c0b8b68e56a1 · outbound

This paper cites an unresolved cited work.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow Unresolved cited work

Reference 37

Resolution: unresolved; raw_fallback, observed 2026-08-07T11:48:04.571582Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation f4e1eeed-dfe0-4621-bddd-96f1abbff8f3 · outbound

This paper cites It can be seen that in addition to the three scales at [ 1 16, 1 8, 1 4], the SE(3) field is also refined at 1 2 resolution.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow It can be seen that in addition to the three scales at [ 1 16, 1 8, 1 4], the SE(3) field is also refined at 1 2 resolution

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.533776Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 17219a07-d0c7-4e3e-a2cd-1c8aab580e31 · outbound

This paper cites The architecture is shown in Figure 4.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow The architecture is shown in Figure 4

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.506314Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 2a5a6012-3ae5-4da7-b10a-ea224db7e437 · outbound

This paper cites In both cases, our approach achieves detailed re- sults and lower errors.

MS-RAFT-3D: A Multi-Scale Architecture for Recurrent Image-Based Scene Flow In both cases, our approach achieves detailed re- sults and lower errors

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:48:04.472200Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Pith citing papers

Observation 1d19e59b-11ec-43b1-9046-c8a26dc73abf · inbound