SeeRF: Learning to See Beyond Fields of View via Generative Image Registration and Fusion

Abstract

Due to the inherent discrepancies in imaging viewpoints and field-of-view mismatches among multi-modal sensors, existing fusion methods have long struggled to achieve complete scene-level information integration beyond the limitation in sensor fields of view. Consequently, the generated fusion results often contain modality-specific regions and fusion artifacts, limiting the comprehensive representation of scene structures and semantic information. To address this challenge, we propose a generative registration-fusion framework, termed SeeRF. Specifically, it first introduces a deformation generation strategy based on the diffeomorphic stationary velocity field, combined with visual foundation model-guided feature extraction and a coarse-to-fine progressive multi-modal image registration module, to achieve accurate cross-modal flow estimation and generate valid field-of-view masks. Subsequently, the registration module is tightly coupled with the generative diffusion module for multi-modal completion and fusion, where the cross-modal control encoding module and the control residual feature encoder-decoder mechanism provide effective guidance. By leveraging the powerful prior modeling capability of generative diffusion models, the proposed framework overcomes the limitations imposed by shared fields of view and enables effective completion and natural fusion of non-overlapping field-of-view regions. Extensive experiments on multiple public datasets and real-world scenarios demonstrate that the proposed method achieves superior performance, validating its effectiveness, superiority, and robustness. The code will be available at https://github.com/XunpengYi/SeeRF.