Method

Pyramidal Lucas Kanade [Pyramid-LK]
http://www.mathworks.com/matlabcentral/fileexchange/23142-iterative-pyramidal-lk-optical-flow

Submitted on 25 Aug. 2015 10:02 by
Moritz Menze (Leibniz Universität Hannover)

Running time:1.5 min
Environment:1 core @ 2.5 Ghz (Matlab)

Method Description:
Computes optical flow using pyramid decomposition
and iterative refinement via Lucas Kanade
optimization.
Parameters:
winSize = 5;
ITER_NO = 5;
PYRE_NO = 5;
Latex Bibtex:
@ARTICLE{Bouguet2000,
author = {Jean-yves Bouguet},
title = {Pyramidal implementation of the Lucas
Kanade feature tracker},
journal = {Intel},
year = {2000}
}

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 71.84 76.82 72.67
All / Est 71.84 76.82 72.67
Noc / All 66.72 75.32 68.28
Noc / Est 66.72 75.32 68.28
This table as LaTeX

Test Image 0

Error Fl-bg Fl-fg Fl-all
All / All 81.40 88.23 82.33
All / Est 81.40 88.23 82.33
Noc / All 79.10 88.23 80.49
Noc / Est 79.10 88.23 80.49
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 1

Error Fl-bg Fl-fg Fl-all
All / All 66.96 83.11 68.76
All / Est 66.96 83.11 68.76
Noc / All 62.98 83.11 65.47
Noc / Est 62.98 83.11 65.47
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 2

Error Fl-bg Fl-fg Fl-all
All / All 91.18 74.97 90.40
All / Est 91.18 74.97 90.40
Noc / All 89.34 74.97 88.51
Noc / Est 89.34 74.97 88.51
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 3

Error Fl-bg Fl-fg Fl-all
All / All 76.66 96.37 78.48
All / Est 76.66 96.37 78.48
Noc / All 71.16 95.16 73.23
Noc / Est 71.16 95.16 73.23
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 4

Error Fl-bg Fl-fg Fl-all
All / All 80.98 90.93 82.63
All / Est 80.98 90.93 82.63
Noc / All 77.24 90.62 79.74
Noc / Est 77.24 90.62 79.74
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 5

Error Fl-bg Fl-fg Fl-all
All / All 70.42 36.76 67.40
All / Est 70.42 36.76 67.40
Noc / All 65.68 36.76 62.70
Noc / Est 65.68 36.76 62.70
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 6

Error Fl-bg Fl-fg Fl-all
All / All 72.34 26.63 67.52
All / Est 72.34 26.63 67.52
Noc / All 68.28 26.63 63.32
Noc / Est 68.28 26.63 63.32
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 7

Error Fl-bg Fl-fg Fl-all
All / All 23.52 93.50 37.22
All / Est 23.52 93.50 37.22
Noc / All 23.52 93.12 36.53
Noc / Est 23.52 93.12 36.53
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 8

Error Fl-bg Fl-fg Fl-all
All / All 34.52 92.59 45.24
All / Est 34.52 92.59 45.24
Noc / All 34.52 92.59 45.24
Noc / Est 34.52 92.59 45.24
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 9

Error Fl-bg Fl-fg Fl-all
All / All 37.54 95.47 52.34
All / Est 37.54 95.47 52.34
Noc / All 37.54 95.47 52.34
Noc / Est 37.54 95.47 52.34
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 10

Error Fl-bg Fl-fg Fl-all
All / All 69.38 81.98 72.26
All / Est 69.38 81.98 72.26
Noc / All 63.66 81.98 68.42
Noc / Est 63.66 81.98 68.42
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 11

Error Fl-bg Fl-fg Fl-all
All / All 67.02 88.05 70.79
All / Est 67.02 88.05 70.79
Noc / All 61.97 88.04 67.22
Noc / Est 61.97 88.04 67.22
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 12

Error Fl-bg Fl-fg Fl-all
All / All 68.20 52.83 67.17
All / Est 68.20 52.83 67.17
Noc / All 61.95 52.83 61.22
Noc / Est 61.95 52.83 61.22
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 13

Error Fl-bg Fl-fg Fl-all
All / All 64.26 91.97 67.66
All / Est 64.26 91.97 67.66
Noc / All 56.83 89.83 60.67
Noc / Est 56.83 89.83 60.67
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 14

Error Fl-bg Fl-fg Fl-all
All / All 62.63 76.28 62.86
All / Est 62.63 76.28 62.86
Noc / All 55.10 76.28 55.54
Noc / Est 55.10 76.28 55.54
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 15

Error Fl-bg Fl-fg Fl-all
All / All 82.55 82.21 82.52
All / Est 82.55 82.21 82.52
Noc / All 77.25 82.21 77.82
Noc / Est 77.25 82.21 77.82
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 16

Error Fl-bg Fl-fg Fl-all
All / All 74.51 99.57 78.20
All / Est 74.51 99.57 78.20
Noc / All 67.64 99.57 73.38
Noc / Est 67.64 99.57 73.38
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 17

Error Fl-bg Fl-fg Fl-all
All / All 80.02 89.39 80.99
All / Est 80.02 89.39 80.99
Noc / All 74.45 89.39 76.39
Noc / Est 74.45 89.39 76.39
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 18

Error Fl-bg Fl-fg Fl-all
All / All 71.87 99.84 85.16
All / Est 71.87 99.84 85.16
Noc / All 62.25 99.64 72.56
Noc / Est 62.25 99.64 72.56
This table as LaTeX

Input Image

Flow Result

Flow Error


Test Image 19

Error Fl-bg Fl-fg Fl-all
All / All 80.23 91.44 81.50
All / Est 80.23 91.44 81.50
Noc / All 73.78 91.44 76.34
Noc / Est 73.78 91.44 76.34
This table as LaTeX

Input Image

Flow Result

Flow Error




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