Method

Fast Scene Flow with Motion Segmentation [mv] [ms] [FSF+MS]


Submitted on 10 Nov. 2016 02:39 by
Tatsunori TANIAI (OMRON SINIC X)

Running time:2.7 s
Environment:4 cores @ 3.5 Ghz (C/C++)

Method Description:
We propose a new multi-frame method for efficiently
computing scene flow (dense depth and optical flow)
and camera ego-motion for a dynamic scene seen from
a moving stereo camera rig. Our technique also
segments out moving objects from the rigid scene.
The proposed framework unifies several tasks -
dense stereo and flow, visual odometry and motion
segmentation - leading to higher accuracy and
computational efficiency.
Parameters:
See paper and supplementary material.
Latex Bibtex:
@inproceedings{Taniai2017,
author = {Tatsunori Taniai and Sudipta N.
Sinha and Yoichi Sato},
title = {Fast Multi-frame Stereo Scene Flow
with Motion Segmentation},
booktitle = {{IEEE Conference on Computer Vision
and Pattern Recognition (CVPR 2017)}},
year = {2017},
}

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 D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 5.72 11.84 6.74 7.57 21.28 9.85 8.48 25.43 11.30 11.17 33.91 14.96
All / Est 5.72 11.84 6.74 7.57 21.28 9.85 8.48 25.43 11.30 11.17 33.91 14.96
Noc / All 5.42 10.76 6.30 6.55 16.65 8.35 6.53 20.72 9.11 9.23 28.03 12.60
Noc / Est 5.42 10.76 6.30 6.55 16.65 8.35 6.53 20.72 9.11 9.23 28.03 12.60
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 6.18 1.84 5.58 6.83 2.79 6.28 3.29 55.52 10.46 7.50 56.03 14.16
All / Est 6.18 1.84 5.58 6.83 2.79 6.28 3.29 55.52 10.46 7.50 56.03 14.16
Noc / All 6.19 1.84 5.58 6.58 2.79 6.00 3.03 55.52 10.99 7.34 56.03 14.88
Noc / Est 6.19 1.84 5.58 6.58 2.79 6.00 3.03 55.52 10.99 7.34 56.03 14.88
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 1

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 3.97 9.95 4.64 4.50 10.27 5.15 2.90 16.49 4.41 4.82 21.89 6.72
All / Est 3.97 9.95 4.64 4.50 10.27 5.15 2.90 16.49 4.41 4.82 21.89 6.72
Noc / All 3.79 9.95 4.48 4.19 10.27 4.95 2.58 16.49 4.30 4.46 21.89 6.66
Noc / Est 3.79 9.95 4.48 4.19 10.27 4.95 2.58 16.49 4.30 4.46 21.89 6.66
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 2

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 4.34 3.73 4.31 4.80 3.02 4.71 4.03 10.91 4.36 5.52 11.37 5.80
All / Est 4.34 3.73 4.31 4.80 3.02 4.71 4.03 10.91 4.36 5.52 11.37 5.80
Noc / All 3.86 3.73 3.85 4.44 3.02 4.36 3.48 10.91 3.92 4.99 11.37 5.37
Noc / Est 3.86 3.73 3.85 4.44 3.02 4.36 3.48 10.91 3.92 4.99 11.37 5.37
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 3

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 8.04 17.36 8.90 10.56 46.42 13.88 12.23 70.51 17.61 13.77 71.01 19.06
All / Est 8.04 17.36 8.90 10.56 46.42 13.88 12.23 70.51 17.61 13.77 71.01 19.06
Noc / All 7.67 17.36 8.57 9.65 26.22 10.82 11.56 60.64 15.79 12.59 50.94 15.29
Noc / Est 7.67 17.36 8.57 9.65 26.22 10.82 11.56 60.64 15.79 12.59 50.94 15.29
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 4

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 6.95 6.76 6.92 8.48 20.86 10.53 10.79 42.38 16.03 11.55 42.39 16.66
All / Est 6.95 6.76 6.92 8.48 20.86 10.53 10.79 42.38 16.03 11.55 42.39 16.66
Noc / All 6.29 6.76 6.37 7.54 21.40 9.93 8.93 43.44 15.38 9.24 44.32 15.29
Noc / Est 6.29 6.76 6.37 7.54 21.40 9.93 8.93 43.44 15.38 9.24 44.32 15.29
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 5

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 9.00 4.54 8.60 10.12 5.45 9.70 6.22 1.99 5.84 10.49 7.69 10.24
All / Est 9.00 4.54 8.60 10.12 5.45 9.70 6.22 1.99 5.84 10.49 7.69 10.24
Noc / All 8.31 4.54 7.97 9.24 5.45 8.84 5.26 1.99 4.93 9.66 7.69 9.45
Noc / Est 8.31 4.54 7.97 9.24 5.45 8.84 5.26 1.99 4.93 9.66 7.69 9.45
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 6

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 10.74 2.90 9.91 11.92 2.99 10.98 8.15 5.72 7.89 12.56 8.43 12.13
All / Est 10.74 2.90 9.91 11.92 2.99 10.98 8.15 5.72 7.89 12.56 8.43 12.13
Noc / All 10.66 2.90 9.83 10.48 2.99 9.56 6.34 5.72 6.27 11.01 8.43 10.69
Noc / Est 10.66 2.90 9.83 10.48 2.99 9.56 6.34 5.72 6.27 11.01 8.43 10.69
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 7

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 8.01 8.93 8.19 8.05 8.20 8.08 0.60 47.69 9.81 8.58 52.88 17.25
All / Est 8.01 8.93 8.19 8.05 8.20 8.08 0.60 47.69 9.81 8.58 52.88 17.25
Noc / All 8.09 8.93 8.26 8.13 8.68 8.24 0.60 44.64 8.83 8.67 50.14 16.53
Noc / Est 8.09 8.93 8.26 8.13 8.68 8.24 0.60 44.64 8.83 8.67 50.14 16.53
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 8

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 8.41 3.64 7.53 8.42 6.84 8.12 0.67 12.30 2.82 9.05 15.09 10.17
All / Est 8.41 3.64 7.53 8.42 6.84 8.12 0.67 12.30 2.82 9.05 15.09 10.17
Noc / All 8.41 3.64 7.53 8.42 6.84 8.13 0.67 12.30 2.82 9.04 15.09 10.16
Noc / Est 8.41 3.64 7.53 8.42 6.84 8.13 0.67 12.30 2.82 9.04 15.09 10.16
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 9

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 8.97 3.24 7.50 8.97 3.38 7.54 0.67 36.23 9.76 9.63 36.48 16.49
All / Est 8.97 3.24 7.50 8.97 3.38 7.54 0.67 36.23 9.76 9.63 36.48 16.49
Noc / All 9.05 3.35 7.63 9.05 3.53 7.68 0.67 36.23 9.76 9.72 38.06 16.77
Noc / Est 9.05 3.35 7.63 9.05 3.53 7.68 0.67 36.23 9.76 9.72 38.06 16.77
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 10

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 4.94 5.87 5.15 7.39 6.71 7.23 6.03 20.33 9.30 9.06 21.50 11.90
All / Est 4.94 5.87 5.15 7.39 6.71 7.23 6.03 20.33 9.30 9.06 21.50 11.90
Noc / All 4.88 5.87 5.11 7.25 6.67 7.10 5.94 20.33 9.68 8.63 20.57 11.66
Noc / Est 4.88 5.87 5.11 7.25 6.67 7.10 5.94 20.33 9.68 8.63 20.57 11.66
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 11

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.75 2.64 2.73 3.57 5.46 3.91 4.96 13.75 6.54 5.51 16.15 7.42
All / Est 2.75 2.64 2.73 3.57 5.46 3.91 4.96 13.75 6.54 5.51 16.15 7.42
Noc / All 2.75 2.64 2.73 3.72 5.89 4.13 4.87 13.76 6.66 5.36 16.94 7.57
Noc / Est 2.75 2.64 2.73 3.72 5.89 4.13 4.87 13.76 6.66 5.36 16.94 7.57
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 12

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.31 3.86 2.42 2.94 6.45 3.17 5.34 8.67 5.56 5.71 11.12 6.08
All / Est 2.31 3.86 2.42 2.94 6.45 3.17 5.34 8.67 5.56 5.71 11.12 6.08
Noc / All 2.30 3.86 2.41 2.67 6.45 2.97 4.43 8.67 4.77 4.54 11.12 5.07
Noc / Est 2.30 3.86 2.41 2.67 6.45 2.97 4.43 8.67 4.77 4.54 11.12 5.07
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 13

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 1.98 0.75 1.83 3.06 29.67 6.33 4.33 40.56 8.78 4.61 46.13 9.71
All / Est 1.98 0.75 1.83 3.06 29.67 6.33 4.33 40.56 8.78 4.61 46.13 9.71
Noc / All 1.81 0.75 1.67 2.22 7.00 2.68 3.20 24.23 5.65 3.36 24.90 5.44
Noc / Est 1.81 0.75 1.67 2.22 7.00 2.68 3.20 24.23 5.65 3.36 24.90 5.44
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 14

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.49 7.76 2.58 3.23 9.27 3.34 6.09 11.41 6.18 6.79 12.25 6.88
All / Est 2.49 7.76 2.58 3.23 9.27 3.34 6.09 11.41 6.18 6.79 12.25 6.88
Noc / All 2.28 7.76 2.37 2.17 9.27 2.32 4.39 11.41 4.53 4.69 12.25 4.85
Noc / Est 2.28 7.76 2.37 2.17 9.27 2.32 4.39 11.41 4.53 4.69 12.25 4.85
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 15

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 5.21 3.30 5.04 7.38 9.03 7.53 10.35 19.61 11.19 10.98 21.01 11.88
All / Est 5.21 3.30 5.04 7.38 9.03 7.53 10.35 19.61 11.19 10.98 21.01 11.88
Noc / All 5.28 3.30 5.10 6.56 9.03 6.85 8.37 19.61 9.66 8.89 21.01 10.31
Noc / Est 5.28 3.30 5.10 6.56 9.03 6.85 8.37 19.61 9.66 8.89 21.01 10.31
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 16

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 6.69 4.37 6.35 9.49 18.94 10.88 10.57 50.03 16.38 11.95 53.80 18.11
All / Est 6.69 4.37 6.35 9.49 18.94 10.88 10.57 50.03 16.38 11.95 53.80 18.11
Noc / All 6.26 4.37 5.98 7.83 18.94 9.89 8.63 50.03 16.08 9.84 53.80 17.98
Noc / Est 6.26 4.37 5.98 7.83 18.94 9.89 8.63 50.03 16.08 9.84 53.80 17.98
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 17

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.57 1.35 2.44 4.89 4.38 4.83 8.97 41.32 12.34 9.54 41.54 12.87
All / Est 2.57 1.35 2.44 4.89 4.38 4.83 8.97 41.32 12.34 9.54 41.54 12.87
Noc / All 2.24 1.35 2.14 3.68 4.38 3.77 7.17 41.32 11.59 7.42 41.54 11.93
Noc / Est 2.24 1.35 2.14 3.68 4.38 3.77 7.17 41.32 11.59 7.42 41.54 11.93
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 18

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 8.33 13.75 10.90 11.15 87.92 47.62 14.03 99.27 54.52 14.77 99.96 55.24
All / Est 8.33 13.75 10.90 11.15 87.92 47.62 14.03 99.27 54.52 14.77 99.96 55.24
Noc / All 8.19 13.75 10.85 8.81 72.33 22.17 11.12 97.66 34.99 11.54 99.83 30.11
Noc / Est 8.19 13.75 10.85 8.81 72.33 22.17 11.12 97.66 34.99 11.54 99.83 30.11
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 19

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.44 6.17 2.87 3.65 9.52 4.31 8.47 27.80 10.66 8.86 29.68 11.22
All / Est 2.44 6.17 2.87 3.65 9.52 4.31 8.47 27.80 10.66 8.86 29.68 11.22
Noc / All 2.41 6.17 2.84 3.18 9.52 4.11 6.91 27.80 9.93 7.23 29.68 10.53
Noc / Est 2.41 6.17 2.84 3.18 9.52 4.11 6.91 27.80 9.93 7.23 29.68 10.53
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error




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