Method

STaRFlow [STaRFlow]


Submitted on 30 Jun. 2020 15:37 by
Pierre Godet (ONERA/DTIS/IVA)

Running time:0.24 s
Environment:GPU @ 2.0 Ghz (Python)

Method Description:
Our algorithm is a multi-frame method based on IRR-PWC. We designed a spatiotemporal recurrent cell that uses information from upper scale levels and from previous time steps to estimate the current optical flow. The same cell (ie with the same weights) is used for every scale and every time step, leading to an efficient and very light model.
Parameters:
4.77M of learnable parameters
Latex Bibtex:
@misc{godet2020starflow,
title={STaRFlow: A SpatioTemporal Recurrent Cell for Lightweight Multi-Frame Optical Flow Estimation},
author={Pierre Godet and Alexandre Boulch and Aurélien Plyer and Guy Le Besnerais},
year={2020},
eprint={2007.05481},
archivePrefix={arXiv},
primaryClass={cs.CV}
}

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 7.51 8.35 7.65
All / Est 7.51 8.35 7.65
Noc / All 5.07 5.23 5.10
Noc / Est 5.07 5.23 5.10
This table as LaTeX

Test Image 0

Error Fl-bg Fl-fg Fl-all
All / All 3.73 17.96 5.69
All / Est 3.73 17.96 5.69
Noc / All 3.85 17.96 5.99
Noc / Est 3.85 17.96 5.99
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 1

Error Fl-bg Fl-fg Fl-all
All / All 2.98 9.55 3.72
All / Est 2.98 9.55 3.72
Noc / All 2.95 9.55 3.77
Noc / Est 2.95 9.55 3.77
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 2

Error Fl-bg Fl-fg Fl-all
All / All 5.42 3.26 5.32
All / Est 5.42 3.26 5.32
Noc / All 4.67 3.26 4.58
Noc / Est 4.67 3.26 4.58
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 3

Error Fl-bg Fl-fg Fl-all
All / All 12.04 17.07 12.50
All / Est 12.04 17.07 12.50
Noc / All 9.37 19.44 10.24
Noc / Est 9.37 19.44 10.24
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 4

Error Fl-bg Fl-fg Fl-all
All / All 6.94 5.29 6.67
All / Est 6.94 5.29 6.67
Noc / All 5.53 4.65 5.37
Noc / Est 5.53 4.65 5.37
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 5

Error Fl-bg Fl-fg Fl-all
All / All 2.63 0.09 2.40
All / Est 2.63 0.09 2.40
Noc / All 2.70 0.09 2.43
Noc / Est 2.70 0.09 2.43
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 6

Error Fl-bg Fl-fg Fl-all
All / All 4.73 1.92 4.43
All / Est 4.73 1.92 4.43
Noc / All 3.07 1.92 2.93
Noc / Est 3.07 1.92 2.93
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 7

Error Fl-bg Fl-fg Fl-all
All / All 2.45 4.51 2.85
All / Est 2.45 4.51 2.85
Noc / All 2.45 3.36 2.62
Noc / Est 2.45 3.36 2.62
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 8

Error Fl-bg Fl-fg Fl-all
All / All 1.42 4.08 1.91
All / Est 1.42 4.08 1.91
Noc / All 1.42 4.08 1.91
Noc / Est 1.42 4.08 1.91
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 9

Error Fl-bg Fl-fg Fl-all
All / All 2.01 10.32 4.13
All / Est 2.01 10.32 4.13
Noc / All 2.01 10.32 4.13
Noc / Est 2.01 10.32 4.13
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 10

Error Fl-bg Fl-fg Fl-all
All / All 3.80 25.24 8.69
All / Est 3.80 25.24 8.69
Noc / All 3.49 25.24 9.15
Noc / Est 3.49 25.24 9.15
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 11

Error Fl-bg Fl-fg Fl-all
All / All 3.42 5.40 3.78
All / Est 3.42 5.40 3.78
Noc / All 3.27 5.31 3.68
Noc / Est 3.27 5.31 3.68
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 12

Error Fl-bg Fl-fg Fl-all
All / All 2.47 1.81 2.43
All / Est 2.47 1.81 2.43
Noc / All 1.95 1.81 1.94
Noc / Est 1.95 1.81 1.94
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 13

Error Fl-bg Fl-fg Fl-all
All / All 2.83 19.75 4.91
All / Est 2.83 19.75 4.91
Noc / All 1.76 7.19 2.39
Noc / Est 1.76 7.19 2.39
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 14

Error Fl-bg Fl-fg Fl-all
All / All 4.76 1.69 4.70
All / Est 4.76 1.69 4.70
Noc / All 3.42 1.69 3.38
Noc / Est 3.42 1.69 3.38
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 15

Error Fl-bg Fl-fg Fl-all
All / All 10.13 7.24 9.86
All / Est 10.13 7.24 9.86
Noc / All 7.28 7.24 7.27
Noc / Est 7.28 7.24 7.27
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 16

Error Fl-bg Fl-fg Fl-all
All / All 14.25 4.06 12.75
All / Est 14.25 4.06 12.75
Noc / All 8.63 4.06 7.81
Noc / Est 8.63 4.06 7.81
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 17

Error Fl-bg Fl-fg Fl-all
All / All 5.38 4.69 5.31
All / Est 5.38 4.69 5.31
Noc / All 3.96 4.69 4.06
Noc / Est 3.96 4.69 4.06
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 18

Error Fl-bg Fl-fg Fl-all
All / All 17.54 100.00 56.72
All / Est 17.54 100.00 56.72
Noc / All 11.95 100.00 36.24
Noc / Est 11.95 100.00 36.24
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 19

Error Fl-bg Fl-fg Fl-all
All / All 5.01 3.27 4.81
All / Est 5.01 3.27 4.81
Noc / All 4.52 3.27 4.34
Noc / Est 4.52 3.27 4.34
This table as LaTeX

Input Image

Flow Result

Flow Error




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