Method

Growing Correspondence Scene Flow [GCSF]
http://cmp.felk.cvut.cz/~cechj/GCSF/

Submitted on 29 Jul. 2015 10:58 by
Andreas Geiger (MPI Tübingen)

Running time:2.4 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
A simple seed growing algorithm for estimating
scene flow in a stereo setup. Two calibrated and
synchronized cameras observe a scene and output a
sequence of image pairs. The algorithm
simultaneously computes a disparity map between
the image pairs and optical flow maps between
consecutive images. This, together
with calibration data, is an equivalent
representation of the 3D scene flow, i.e. a 3D
velocity vector is associated with each
reconstructed point. The proposed method starts
from correspondence seeds and propagates these
correspondences to their neighborhood. It is
accurate for complex scenes with large motions and
produces temporally coherent stereo disparity and
optical flow results. The algorithm is fast due to
inherent search space reduction.
Parameters:
The results have been provided by the authors using
the default parameter settings.
Latex Bibtex:
@InProceedings{Cech2011CVPR,
author = {Cech, Jan and Sanchez-Riera,
Jordi and Horaud, Radu P.},
title = {Scene Flow Estimation by growing Correspondence Seeds},
booktitle = {CVPR},
year = {2011}
}

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 11.64 27.11 14.21 32.94 35.77 33.41 47.38 45.08 47.00 52.92 59.11 53.95
All / Est 11.64 27.11 14.21 32.94 35.77 33.41 47.38 45.08 47.00 52.92 59.11 53.95
Noc / All 11.24 26.26 13.72 21.88 31.66 23.63 38.12 41.53 38.74 43.64 55.02 45.68
Noc / Est 11.24 26.26 13.72 21.88 31.66 23.63 38.12 41.53 38.74 43.64 55.02 45.68
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 16.72 17.66 16.85 17.23 31.57 19.20 43.76 57.34 45.62 53.76 65.03 55.30
All / Est 16.72 17.66 16.85 17.23 31.57 19.20 43.76 57.34 45.62 53.76 65.03 55.30
Noc / All 16.80 17.66 16.92 12.03 31.57 15.06 37.04 57.34 40.11 46.80 65.03 49.62
Noc / Est 16.80 17.66 16.92 12.03 31.57 15.06 37.04 57.34 40.11 46.80 65.03 49.62
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 10.07 18.30 10.99 22.02 24.08 22.25 33.07 41.56 34.02 41.09 52.03 42.31
All / Est 10.07 18.30 10.99 22.02 24.08 22.25 33.07 41.56 34.02 41.09 52.03 42.31
Noc / All 9.75 18.30 10.72 12.54 24.08 13.99 25.37 41.56 27.37 32.64 52.03 35.09
Noc / Est 9.75 18.30 10.72 12.54 24.08 13.99 25.37 41.56 27.37 32.64 52.03 35.09
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 11.28 15.14 11.47 27.60 31.97 27.81 56.76 36.08 55.75 62.06 46.05 61.28
All / Est 11.28 15.14 11.47 27.60 31.97 27.81 56.76 36.08 55.75 62.06 46.05 61.28
Noc / All 10.64 15.14 10.87 16.52 31.97 17.44 47.92 36.08 47.23 53.26 46.05 52.83
Noc / Est 10.64 15.14 10.87 16.52 31.97 17.44 47.92 36.08 47.23 53.26 46.05 52.83
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 11.51 27.69 13.01 40.37 46.28 40.92 60.32 83.87 62.50 64.57 86.89 66.63
All / Est 11.51 27.69 13.01 40.37 46.28 40.92 60.32 83.87 62.50 64.57 86.89 66.63
Noc / All 11.15 27.69 12.70 27.60 33.98 28.04 51.32 78.47 53.66 55.59 77.81 57.15
Noc / Est 11.15 27.69 12.70 27.60 33.98 28.04 51.32 78.47 53.66 55.59 77.81 57.15
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 13.84 22.22 15.23 43.43 41.07 43.04 64.32 71.08 65.44 68.33 78.71 70.05
All / Est 13.84 22.22 15.23 43.43 41.07 43.04 64.32 71.08 65.44 68.33 78.71 70.05
Noc / All 12.94 22.22 14.51 32.82 38.76 33.85 57.32 70.13 59.72 61.53 76.81 64.16
Noc / Est 12.94 22.22 14.51 32.82 38.76 33.85 57.32 70.13 59.72 61.53 76.81 64.16
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 28.22 18.47 27.34 43.26 8.16 40.11 59.52 0.02 54.17 67.30 21.75 63.21
All / Est 28.22 18.47 27.34 43.26 8.16 40.11 59.52 0.02 54.17 67.30 21.75 63.21
Noc / All 27.39 18.47 26.57 34.94 8.16 32.10 53.03 0.02 47.58 60.81 21.75 56.67
Noc / Est 27.39 18.47 26.57 34.94 8.16 32.10 53.03 0.02 47.58 60.81 21.75 56.67
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 33.96 22.07 32.70 44.74 20.12 42.14 60.31 6.09 54.59 67.31 28.60 63.23
All / Est 33.96 22.07 32.70 44.74 20.12 42.14 60.31 6.09 54.59 67.31 28.60 63.23
Noc / All 34.00 22.07 32.72 37.75 20.12 35.61 55.00 6.09 49.17 61.73 28.60 57.70
Noc / Est 34.00 22.07 32.72 37.75 20.12 35.61 55.00 6.09 49.17 61.73 28.60 57.70
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 13.03 21.18 14.62 10.69 65.00 21.32 1.59 77.93 16.53 19.02 81.73 31.30
All / Est 13.03 21.18 14.62 10.69 65.00 21.32 1.59 77.93 16.53 19.02 81.73 31.30
Noc / All 13.06 21.18 14.67 10.75 63.65 20.78 1.59 76.65 15.62 19.11 80.67 30.78
Noc / Est 13.06 21.18 14.67 10.75 63.65 20.78 1.59 76.65 15.62 19.11 80.67 30.78
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 15.62 16.81 15.84 11.13 8.37 10.62 1.72 40.40 8.86 22.58 46.14 26.93
All / Est 15.62 16.81 15.84 11.13 8.37 10.62 1.72 40.40 8.86 22.58 46.14 26.93
Noc / All 15.62 16.81 15.84 11.12 8.37 10.62 1.72 40.40 8.86 22.58 46.14 26.93
Noc / Est 15.62 16.81 15.84 11.12 8.37 10.62 1.72 40.40 8.86 22.58 46.14 26.93
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 11.63 15.76 12.68 11.08 22.52 14.01 2.17 29.91 9.26 18.33 40.59 24.02
All / Est 11.63 15.76 12.68 11.08 22.52 14.01 2.17 29.91 9.26 18.33 40.59 24.02
Noc / All 11.71 15.46 12.64 11.18 23.27 14.19 2.17 29.91 9.26 18.46 41.31 24.15
Noc / Est 11.71 15.46 12.64 11.18 23.27 14.19 2.17 29.91 9.26 18.46 41.31 24.15
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 9.16 13.58 10.17 26.34 14.60 23.66 49.06 42.41 47.54 55.17 50.51 54.10
All / Est 9.16 13.58 10.17 26.34 14.60 23.66 49.06 42.41 47.54 55.17 50.51 54.10
Noc / All 9.16 13.58 10.18 15.25 15.24 15.25 40.39 42.41 40.92 46.15 48.64 46.78
Noc / Est 9.16 13.58 10.18 15.25 15.24 15.25 40.39 42.41 40.92 46.15 48.64 46.78
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 6.80 10.74 7.51 16.94 14.26 16.46 38.35 40.48 38.73 42.00 47.02 42.90
All / Est 6.80 10.74 7.51 16.94 14.26 16.46 38.35 40.48 38.73 42.00 47.02 42.90
Noc / All 6.78 10.74 7.50 9.23 14.67 10.27 29.93 40.41 32.04 32.83 42.45 34.66
Noc / Est 6.78 10.74 7.50 9.23 14.67 10.27 29.93 40.41 32.04 32.83 42.45 34.66
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 5.30 8.11 5.49 26.63 14.99 25.84 50.07 20.02 48.04 52.19 28.99 50.63
All / Est 5.30 8.11 5.49 26.63 14.99 25.84 50.07 20.02 48.04 52.19 28.99 50.63
Noc / All 5.18 8.11 5.38 14.33 14.99 14.38 40.59 20.02 38.95 42.15 28.99 41.09
Noc / Est 5.18 8.11 5.38 14.33 14.99 14.38 40.59 20.02 38.95 42.15 28.99 41.09
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 5.54 14.30 6.62 24.49 45.15 27.02 46.60 80.19 50.72 49.53 83.54 53.71
All / Est 5.54 14.30 6.62 24.49 45.15 27.02 46.60 80.19 50.72 49.53 83.54 53.71
Noc / All 5.45 14.30 6.54 9.97 30.34 11.94 35.54 74.56 40.08 38.31 73.67 41.73
Noc / Est 5.45 14.30 6.54 9.97 30.34 11.94 35.54 74.56 40.08 38.31 73.67 41.73
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 6.21 4.83 6.19 28.48 6.86 28.10 51.51 7.08 50.74 54.41 11.80 53.67
All / Est 6.21 4.83 6.19 28.48 6.86 28.10 51.51 7.08 50.74 54.41 11.80 53.67
Noc / All 6.08 4.83 6.06 14.96 6.86 14.79 42.14 7.08 41.41 44.60 11.80 43.91
Noc / Est 6.08 4.83 6.06 14.96 6.86 14.79 42.14 7.08 41.41 44.60 11.80 43.91
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 7.90 13.36 8.39 48.01 25.40 45.96 66.45 55.93 65.49 68.67 59.83 67.87
All / Est 7.90 13.36 8.39 48.01 25.40 45.96 66.45 55.93 65.49 68.67 59.83 67.87
Noc / All 7.94 13.36 8.44 33.27 25.40 32.34 57.00 55.93 56.88 58.55 59.83 58.70
Noc / Est 7.94 13.36 8.44 33.27 25.40 32.34 57.00 55.93 56.88 58.55 59.83 58.70
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 9.08 15.74 10.06 43.17 57.51 45.28 62.37 81.03 65.12 65.09 84.91 68.01
All / Est 9.08 15.74 10.06 43.17 57.51 45.28 62.37 81.03 65.12 65.09 84.91 68.01
Noc / All 8.70 15.74 9.74 26.73 57.51 32.43 52.21 81.03 57.39 54.12 84.91 59.82
Noc / Est 8.70 15.74 9.74 26.73 57.51 32.43 52.21 81.03 57.39 54.12 84.91 59.82
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 4.16 9.33 4.70 38.35 39.23 38.44 59.60 59.12 59.55 61.33 63.76 61.59
All / Est 4.16 9.33 4.70 38.35 39.23 38.44 59.60 59.12 59.55 61.33 63.76 61.59
Noc / All 3.80 9.33 4.39 22.30 39.23 24.54 48.51 59.12 49.88 49.53 63.76 51.41
Noc / Est 3.80 9.33 4.39 22.30 39.23 24.54 48.51 59.12 49.88 49.53 63.76 51.41
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 12.79 30.55 21.23 45.51 99.75 71.28 56.90 100.00 77.38 59.01 100.00 78.48
All / Est 12.79 30.55 21.23 45.51 99.75 71.28 56.90 100.00 77.38 59.01 100.00 78.48
Noc / All 12.59 30.55 21.21 26.81 98.86 41.97 42.46 100.00 58.33 44.37 100.00 56.08
Noc / Est 12.59 30.55 21.21 26.81 98.86 41.97 42.46 100.00 58.33 44.37 100.00 56.08
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 6.50 10.42 6.95 48.17 32.33 46.38 64.40 64.13 64.37 66.63 67.59 66.74
All / Est 6.50 10.42 6.95 48.17 32.33 46.38 64.40 64.13 64.37 66.63 67.59 66.74
Noc / All 6.51 10.42 6.96 32.02 32.33 32.07 53.12 64.13 54.72 55.08 67.59 56.92
Noc / Est 6.51 10.42 6.96 32.02 32.33 32.07 53.12 64.13 54.72 55.08 67.59 56.92
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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