Method

High Accuracy Optical Flow [HAOF]
http://lmb.informatik.uni-freiburg.de/resources/binaries/

Submitted on 18 Sep. 2015 14:19 by
Moritz Menze (Leibniz Universität Hannover)

Running time:16.2 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
We study an energy functional for computing
optical flow that combines three assumptions: a
brightness constancy assumption, a gradient
constancy assumption, and a discontinuity-
preserving spatio-temporal smoothness constraint.
In order to allow for large displacements,
linearisations in the two data terms are strictly
avoided. We present a consistent numerical scheme
based on two nested fixed point iterations. By
proving that this scheme implements a coarse-to-
fine warping strategy, we give a theoretical
foundation for warping which has been used on a
mainly experimental basis so far. Our evaluation
demonstrates that the novel method gives
significantly smaller angular errors than previous
techniques for optical flow estimation. We show
that it is fairly insensitive to parameter
variations, and we demonstrate its excellent
robustness under noise.
Parameters:
default parameters
Latex Bibtex:
@INPROCEEDINGS{Brox2004ECCV,
author = {Thomas Brox and Andrés Bruhn and Nils
Papenberg and Joachim Weickert},
title = {High accuracy optical flow estimation
based on a theory for warping},
booktitle = {ECCV},
year = {2004}
}

Detailed Results

This page provides detailed results for the method(s) selected. For the first 20 test images, the percentage of erroneous pixels is depicted in the table. We use the error metric described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), which considers a pixel to be correctly estimated if the disparity or flow end-point error is <3px or <5% (for scene flow this criterion needs to be fulfilled for both disparity maps and the flow map). Underneath, the left input image, the estimated results and the error maps are shown (for disp_0/disp_1/flow/scene_flow, respectively). The error map uses the log-color scale described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), depicting correct estimates (<3px or <5% error) in blue and wrong estimates in red color tones. Dark regions in the error images denote the occluded pixels which fall outside the image boundaries. The false color maps of the results are scaled to the largest ground truth disparity values / flow magnitudes.

Test Set Average

Error Fl-bg Fl-fg Fl-all
All / All 49.89 50.74 50.04
All / Est 49.89 50.74 50.04
Noc / All 41.52 47.66 42.63
Noc / Est 41.52 47.66 42.63
This table as LaTeX

Test Image 0

Error Fl-bg Fl-fg Fl-all
All / All 36.96 99.99 45.61
All / Est 36.96 99.99 45.61
Noc / All 30.35 99.99 40.91
Noc / Est 30.35 99.99 40.91
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 1

Error Fl-bg Fl-fg Fl-all
All / All 31.67 85.27 37.66
All / Est 31.67 85.27 37.66
Noc / All 24.49 85.27 31.99
Noc / Est 24.49 85.27 31.99
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 2

Error Fl-bg Fl-fg Fl-all
All / All 60.95 22.36 59.07
All / Est 60.95 22.36 59.07
Noc / All 52.94 22.36 51.16
Noc / Est 52.94 22.36 51.16
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 3

Error Fl-bg Fl-fg Fl-all
All / All 76.02 96.59 77.92
All / Est 76.02 96.59 77.92
Noc / All 70.37 95.44 72.53
Noc / Est 70.37 95.44 72.53
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 4

Error Fl-bg Fl-fg Fl-all
All / All 50.56 94.34 57.82
All / Est 50.56 94.34 57.82
Noc / All 40.99 94.14 50.93
Noc / Est 40.99 94.14 50.93
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 5

Error Fl-bg Fl-fg Fl-all
All / All 36.05 0.00 32.81
All / Est 36.05 0.00 32.81
Noc / All 26.76 0.00 24.01
Noc / Est 26.76 0.00 24.01
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 6

Error Fl-bg Fl-fg Fl-all
All / All 44.26 1.20 39.72
All / Est 44.26 1.20 39.72
Noc / All 37.30 1.20 33.00
Noc / Est 37.30 1.20 33.00
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 7

Error Fl-bg Fl-fg Fl-all
All / All 1.35 100.00 20.66
All / Est 1.35 100.00 20.66
Noc / All 1.35 100.00 19.79
Noc / Est 1.35 100.00 19.79
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 8

Error Fl-bg Fl-fg Fl-all
All / All 2.34 100.00 20.37
All / Est 2.34 100.00 20.37
Noc / All 2.34 100.00 20.37
Noc / Est 2.34 100.00 20.37
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 9

Error Fl-bg Fl-fg Fl-all
All / All 1.68 100.00 26.80
All / Est 1.68 100.00 26.80
Noc / All 1.68 100.00 26.80
Noc / Est 1.68 100.00 26.80
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 10

Error Fl-bg Fl-fg Fl-all
All / All 39.63 64.10 45.21
All / Est 39.63 64.10 45.21
Noc / All 29.48 64.10 38.48
Noc / Est 29.48 64.10 38.48
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 11

Error Fl-bg Fl-fg Fl-all
All / All 37.51 43.42 38.57
All / Est 37.51 43.42 38.57
Noc / All 29.44 43.36 32.24
Noc / Est 29.44 43.36 32.24
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 12

Error Fl-bg Fl-fg Fl-all
All / All 56.47 23.61 54.25
All / Est 56.47 23.61 54.25
Noc / All 48.10 23.61 46.15
Noc / Est 48.10 23.61 46.15
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 13

Error Fl-bg Fl-fg Fl-all
All / All 57.82 100.00 62.99
All / Est 57.82 100.00 62.99
Noc / All 49.09 100.00 55.01
Noc / Est 49.09 100.00 55.01
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 14

Error Fl-bg Fl-fg Fl-all
All / All 62.25 44.91 61.95
All / Est 62.25 44.91 61.95
Noc / All 55.08 44.91 54.87
Noc / Est 55.08 44.91 54.87
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 15

Error Fl-bg Fl-fg Fl-all
All / All 77.03 72.11 76.59
All / Est 77.03 72.11 76.59
Noc / All 70.77 72.11 70.93
Noc / Est 70.77 72.11 70.93
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 16

Error Fl-bg Fl-fg Fl-all
All / All 59.08 100.00 65.10
All / Est 59.08 100.00 65.10
Noc / All 48.02 100.00 57.37
Noc / Est 48.02 100.00 57.37
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 17

Error Fl-bg Fl-fg Fl-all
All / All 68.31 83.09 69.85
All / Est 68.31 83.09 69.85
Noc / All 59.67 83.09 62.70
Noc / Est 59.67 83.09 62.70
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 18

Error Fl-bg Fl-fg Fl-all
All / All 66.78 100.00 82.57
All / Est 66.78 100.00 82.57
Noc / All 55.54 100.00 67.80
Noc / Est 55.54 100.00 67.80
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 19

Error Fl-bg Fl-fg Fl-all
All / All 73.48 87.95 75.11
All / Est 73.48 87.95 75.11
Noc / All 64.81 87.95 68.16
Noc / Est 64.81 87.95 68.16
This table as LaTeX

Input Image

Flow Result

Flow Error




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