Method

Object Scene Flow 2018 [OSF 2018]
http://www.cvlibs.net/projects/objectsceneflow

Submitted on 6 May. 2018 12:01 by
Moritz Menze (Leibniz Universität Hannover)

Running time:390 s
Environment:1 core @ 2.5 Ghz (Matlab + C/C++)

Method Description:
In this paper, we propose a unified random field model which reasons jointly about 3D scene flow as well as the location, shape and motion of vehicles in the observed scene. We formulate the problem as the task of decomposing the scene into a small number of rigidly moving objects sharing the same motion parameters. Thus, our formulation effectively introduces long-range spatial dependencies which commonly employed local rigidity priors are lacking. Our inference algorithm then estimates the association of image segments and object hypotheses together with their three-dimensional shape and motion.
Parameters:
See paper.
Latex Bibtex:
@ARTICLE{Menze2018JPRS,
author = {Moritz Menze and Christian Heipke and Andreas Geiger},
title = {Object Scene Flow},
journal = {ISPRS Journal of Photogrammetry and Remote Sensing (JPRS)},
year = {2018}
}

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 4.11 11.12 5.28 5.01 17.28 7.06 5.38 17.61 7.41 6.68 24.59 9.66
All / Est 4.11 11.12 5.28 4.85 17.28 6.93 5.38 17.61 7.41 6.68 24.59 9.66
Noc / All 3.78 10.25 4.85 4.05 14.23 5.87 4.02 14.14 5.86 5.20 20.37 7.91
Noc / Est 3.78 10.25 4.85 3.89 14.23 5.75 4.02 14.14 5.86 5.20 20.37 7.91
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 3.32 4.14 3.43 3.48 4.43 3.61 2.04 46.44 8.13 3.65 46.44 9.52
All / Est 3.32 4.14 3.43 3.48 4.43 3.61 2.04 46.44 8.13 3.65 46.44 9.52
Noc / All 3.29 4.14 3.41 3.46 4.43 3.61 1.99 46.44 8.73 3.64 46.44 10.27
Noc / Est 3.29 4.14 3.41 3.46 4.43 3.61 1.99 46.44 8.73 3.64 46.44 10.27
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 3.61 9.69 4.29 3.93 5.40 4.09 2.74 24.46 5.16 4.13 25.68 6.54
All / Est 3.61 9.69 4.29 3.93 5.40 4.09 2.74 24.46 5.16 4.13 25.68 6.54
Noc / All 3.23 9.69 3.96 3.60 5.40 3.83 2.33 24.46 5.06 3.66 25.68 6.44
Noc / Est 3.23 9.69 3.96 3.60 5.40 3.83 2.33 24.46 5.06 3.66 25.68 6.44
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 3.85 2.36 3.78 4.20 2.90 4.14 3.96 90.71 8.18 5.53 90.86 9.68
All / Est 3.85 2.36 3.78 4.20 2.90 4.14 3.96 90.71 8.18 5.53 90.86 9.68
Noc / All 3.30 2.36 3.26 3.70 2.90 3.65 2.53 90.71 7.66 4.07 90.86 9.23
Noc / Est 3.30 2.36 3.26 3.70 2.90 3.65 2.53 90.71 7.66 4.07 90.86 9.23
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 5.43 23.13 7.06 6.31 90.68 14.10 6.99 100.00 15.58 7.99 100.00 16.49
All / Est 5.43 23.13 7.06 6.31 90.68 14.10 6.99 100.00 15.58 7.99 100.00 16.49
Noc / All 5.25 23.13 6.93 6.21 86.80 11.88 6.34 100.00 14.41 7.16 100.00 13.69
Noc / Est 5.25 23.13 6.93 6.21 86.80 11.88 6.34 100.00 14.41 7.16 100.00 13.69
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 3.90 3.10 3.77 4.43 12.30 5.74 4.80 24.18 8.01 5.10 24.26 8.27
All / Est 3.90 3.10 3.77 4.43 12.30 5.74 4.80 24.18 8.01 5.10 24.26 8.27
Noc / All 3.21 3.10 3.19 3.81 13.55 5.49 4.08 24.15 7.83 4.26 23.09 7.51
Noc / Est 3.21 3.10 3.19 3.81 13.55 5.49 4.08 24.15 7.83 4.26 23.09 7.51
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 9.41 6.34 9.14 10.40 6.34 10.04 7.60 1.15 7.02 10.88 7.49 10.58
All / Est 9.41 6.34 9.14 10.40 6.34 10.04 7.60 1.15 7.02 10.88 7.49 10.58
Noc / All 7.64 6.34 7.52 8.56 6.34 8.33 6.17 1.15 5.66 9.12 7.49 8.95
Noc / Est 7.64 6.34 7.52 8.56 6.34 8.33 6.17 1.15 5.66 9.12 7.49 8.95
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 8.71 11.78 9.03 9.54 12.89 9.89 8.35 4.93 7.99 10.07 13.34 10.41
All / Est 8.71 11.78 9.03 9.54 12.89 9.89 8.35 4.93 7.99 10.07 13.34 10.41
Noc / All 8.45 11.78 8.81 8.34 12.89 8.89 6.46 4.93 6.28 8.48 13.34 9.07
Noc / Est 8.45 11.78 8.81 8.34 12.89 8.89 6.46 4.93 6.28 8.48 13.34 9.07
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 2.71 11.62 4.46 2.72 11.63 4.46 0.63 66.71 13.56 3.10 66.71 15.55
All / Est 2.71 11.62 4.46 2.72 11.63 4.46 0.63 66.71 13.56 3.10 66.71 15.55
Noc / All 2.66 11.62 4.44 2.67 11.90 4.41 0.63 64.77 12.62 3.05 64.77 14.75
Noc / Est 2.66 11.62 4.44 2.67 11.90 4.41 0.63 64.77 12.62 3.05 64.77 14.75
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 2.25 3.19 2.42 2.28 3.19 2.45 0.18 23.81 4.54 2.42 23.81 6.37
All / Est 2.25 3.19 2.42 2.28 3.19 2.45 0.18 23.81 4.54 2.42 23.81 6.37
Noc / All 2.24 3.19 2.42 2.26 3.19 2.43 0.18 23.81 4.54 2.40 23.81 6.36
Noc / Est 2.24 3.19 2.42 2.26 3.19 2.43 0.18 23.81 4.54 2.40 23.81 6.36
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 2.39 10.67 4.51 2.40 10.56 4.49 0.58 35.17 9.42 2.78 35.17 11.06
All / Est 2.39 10.67 4.51 2.40 10.56 4.49 0.58 35.17 9.42 2.78 35.17 11.06
Noc / All 2.43 11.18 4.61 2.44 11.09 4.59 0.58 35.17 9.42 2.78 36.78 11.24
Noc / Est 2.43 11.18 4.61 2.44 11.09 4.59 0.58 35.17 9.42 2.78 36.78 11.24
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 2.13 4.15 2.59 3.98 4.78 4.16 2.51 19.42 6.37 4.42 19.48 7.86
All / Est 2.13 4.15 2.59 3.98 4.78 4.16 2.51 19.42 6.37 4.42 19.48 7.86
Noc / All 2.16 4.15 2.62 3.78 4.61 3.99 2.22 19.42 6.69 3.94 20.05 8.03
Noc / Est 2.16 4.15 2.62 3.78 4.61 3.99 2.22 19.42 6.69 3.94 20.05 8.03
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 2.26 1.55 2.13 2.51 4.96 2.95 2.71 9.02 3.85 3.04 9.16 4.14
All / Est 2.26 1.55 2.13 2.51 4.96 2.95 2.71 9.02 3.85 3.04 9.16 4.14
Noc / All 2.26 1.55 2.13 2.71 4.78 3.11 2.70 8.92 3.95 3.07 9.13 4.22
Noc / Est 2.26 1.55 2.13 2.71 4.78 3.11 2.70 8.92 3.95 3.07 9.13 4.22
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 1.04 4.67 1.29 1.31 4.81 1.54 2.65 5.11 2.82 2.76 5.11 2.92
All / Est 1.04 4.67 1.29 1.31 4.81 1.54 2.65 5.11 2.82 2.76 5.11 2.92
Noc / All 1.00 4.67 1.25 0.98 4.81 1.29 1.70 5.11 1.97 1.74 5.11 2.01
Noc / Est 1.00 4.67 1.25 0.98 4.81 1.29 1.70 5.11 1.97 1.74 5.11 2.01
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 1.84 4.14 2.12 2.19 8.75 3.00 2.82 13.27 4.11 2.94 13.54 4.24
All / Est 1.84 4.14 2.12 2.19 8.75 3.00 2.82 13.27 4.11 2.94 13.54 4.24
Noc / All 1.65 4.14 1.96 1.44 8.15 2.08 1.72 15.48 3.32 1.73 15.02 3.02
Noc / Est 1.65 4.14 1.96 1.44 8.15 2.08 1.72 15.48 3.32 1.73 15.02 3.02
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 1.59 3.43 1.62 2.49 3.43 2.51 3.11 100.00 4.79 3.84 100.00 5.50
All / Est 1.59 3.43 1.62 2.49 3.43 2.51 3.11 100.00 4.79 3.84 100.00 5.50
Noc / All 1.53 3.43 1.56 1.63 3.43 1.67 2.27 100.00 4.30 2.32 100.00 4.38
Noc / Est 1.53 3.43 1.56 1.63 3.43 1.67 2.27 100.00 4.30 2.32 100.00 4.38
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 4.63 3.46 4.53 7.01 4.83 6.81 9.67 4.08 9.16 10.22 5.41 9.79
All / Est 4.63 3.46 4.53 7.01 4.83 6.81 9.67 4.08 9.16 10.22 5.41 9.79
Noc / All 4.63 3.46 4.52 5.77 4.83 5.66 7.75 4.08 7.33 8.16 5.41 7.83
Noc / Est 4.63 3.46 4.52 5.77 4.83 5.66 7.75 4.08 7.33 8.16 5.41 7.83
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 7.30 2.84 6.64 9.75 15.15 10.54 10.91 43.49 15.71 11.43 50.44 17.17
All / Est 7.30 2.84 6.64 9.75 15.15 10.54 10.91 43.49 15.71 11.43 50.44 17.17
Noc / All 6.74 2.84 6.16 7.36 15.15 8.80 8.76 43.49 15.01 9.23 50.44 16.86
Noc / Est 6.74 2.84 6.16 7.36 15.15 8.80 8.76 43.49 15.01 9.23 50.44 16.86
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 1.89 1.74 1.87 3.23 2.28 3.13 6.08 13.80 6.89 6.56 14.30 7.37
All / Est 1.89 1.74 1.87 3.23 2.28 3.13 6.08 13.80 6.89 6.56 14.30 7.37
Noc / All 1.82 1.74 1.81 2.98 2.28 2.89 4.81 13.80 5.97 5.21 14.30 6.41
Noc / Est 1.82 1.74 1.81 2.98 2.28 2.89 4.81 13.80 5.97 5.21 14.30 6.41
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 9.21 9.12 9.17 12.03 100.00 53.82 15.40 100.00 55.59 16.41 100.00 56.12
All / Est 9.21 9.12 9.17 12.03 100.00 53.82 15.40 100.00 55.59 16.41 100.00 56.12
Noc / All 8.20 9.12 8.64 8.67 100.00 27.89 10.85 100.00 35.44 11.74 100.00 30.31
Noc / Est 8.20 9.12 8.64 8.67 100.00 27.89 10.85 100.00 35.44 11.74 100.00 30.31
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 1.73 7.77 2.42 2.38 8.45 3.07 5.12 8.74 5.53 5.16 12.39 5.98
All / Est 1.73 7.77 2.42 2.38 8.45 3.07 5.12 8.74 5.53 5.16 12.39 5.98
Noc / All 1.70 7.77 2.40 2.27 8.45 3.18 3.24 8.74 4.04 3.31 12.39 4.64
Noc / Est 1.70 7.77 2.40 2.27 8.45 3.18 3.24 8.74 4.04 3.31 12.39 4.64
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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