Self-Supervised 3D Cloud Motion Inversion from Ground-Based Binocular All-Sky Images

Addressing the challenge of stable cloud velocity field estimation under complex sky conditions in ground-based cloud imaging, this paper proposes a comprehensive 3D cloud velocity calculation framework. The methodology integrates binocular stereo vision geometry, self-supervised deep feature learning, and graph attention-based matching. First, a self-supervised feature detection and description model tailored to the radiometric characteristics of cloud images is developed. By incorporating a homography adaptation strategy constrained by physical priors, the model acquires robust feature representations for weakly textured and highly deformable cloud masses without requiring labeled datasets. Subsequently, a Transformer-based graph neural network matcher is employed to establish global feature correspondences across both cross-view and cross-temporal dimensions, thereby substantially augmenting matching robustness. On this basis, the framework establishes a rigorous calibration model for fisheye cameras to derive cloud base height (CBH) via binocular geometry. These geometric constraints are then coupled with sequential feature tracking results to construct 3D velocity inversion equations, enabling an end-to-end mapping from 2D pixel coordinates to 3D physical space and providing direct estimation of physical cloud motion velocity in meters per second (m/s). The experimental results show that the proposed method extracts 4.5 times more feature points than the traditional SIFT method. Furthermore, the Pearson correlation coefficient for cloud motion trends in continuous sequences reaches 0.662 relative to baseline models, indicating good relative consistency in motion estimation. The framework achieves high-precision and stable velocity estimation across diverse cloud types, including cirrus, cumulus, stratus, and mixed clouds.