# BenthicFlow
**Generating Extensible Underwater Environments via Flow Matching** · *ECCV 2026, Marine Vision Workshop*
BenthicFlow is a unified generative pipeline for benthic (seafloor) environments.
A **single conditional flow matching model** jointly synthesizes aligned RGB and
depth, and a MultiDiffusion-inspired windowed sampler extends generation to
scenes of unbounded spatial extent — no separate inpainting or stitching network.
Generated RGB-D mosaics are lifted into continuous 3D scenes with
**surface-aligned Gaussian surfels**.
**Contributions** (paper, Sec. 1):
- A windowed flow-matching formulation that unifies generation and in-painting
into a single pass, producing extensible RGB-D domains from one model.
- A single conditional velocity field spanning multiple geographically distinct
survey sites, interpolating smoothly between them.
- A lifting stage projecting generated RGB-D mosaics into point clouds and
surface-aligned Gaussian splats for spatially continuo…
