Method

Precision Real-time and Low-complexity Sparse Scene-Flow [PRLSSF]
[Anonymous Submission]

Submitted on 30 Jan. 2022 08:22 by
[Anonymous Submission]

Running time:1.5 s
Environment:8 cores @ 2.5 Ghz (Matlab) and (C++)

Method Description:
This sparse scene-flow method is based on sparse optical flow (LKT) and fast inlier detection. Our proposed method is robust, fast and low complexity. The used inlier detection is based on special correlation analysis and modified circular matching techniques. The proposed method is appropriate for real-time sparse scene-flow applications such as visual odometry and VSLAM. Our proposed method can be used in real-time applications running on the CPU and both outdoor and indoor environments
Parameters:
Anonymous
Latex Bibtex:
Erfan salehi, Dr.Ali aghagolzadeh, Dr.reshad hosseuni

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 58.62 75.07 61.36 60.59 75.88 63.14 73.05 76.85 73.68 78.88 84.51 79.82
All / Est 0.66 1.35 0.75 0.65 1.11 0.71 0.24 0.77 0.31 1.16 2.83 1.39
Noc / All 58.27 74.52 60.95 53.64 73.83 57.26 68.23 75.38 69.53 74.73 83.03 76.22
Noc / Est 0.66 1.35 0.75 0.64 1.11 0.71 0.24 0.77 0.31 1.16 2.83 1.39
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 40.41 87.47 46.87 43.33 88.15 49.48 76.58 84.71 77.69 80.68 95.44 82.70
All / Est 1.58 0.00 1.52 1.66 0.00 1.60 0.17 0.00 0.17 1.86 0.00 1.79
Noc / All 40.08 87.47 46.70 37.10 88.15 45.00 73.68 84.71 75.35 77.77 95.44 80.50
Noc / Est 1.58 0.00 1.52 1.66 0.00 1.60 0.17 0.00 0.17 1.86 0.00 1.79
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 36.05 78.40 40.78 40.37 85.03 45.36 63.60 85.33 66.03 67.08 88.30 69.45
All / Est 1.87 0.00 1.79 1.54 0.00 1.47 0.15 0.19 0.15 2.60 0.66 2.52
Noc / All 35.40 78.40 40.27 32.55 85.03 39.18 59.22 85.33 62.45 62.20 88.30 65.49
Noc / Est 1.87 0.00 1.79 1.54 0.00 1.47 0.15 0.19 0.15 2.60 0.66 2.52
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 55.48 60.21 55.71 57.92 64.15 58.22 83.41 65.99 82.56 86.13 81.13 85.89
All / Est 2.07 0.00 1.71 2.59 0.17 2.12 0.04 1.16 0.27 2.42 0.20 2.02
Noc / All 54.90 60.21 55.16 49.44 64.15 50.31 79.94 65.99 79.13 82.89 81.13 82.78
Noc / Est 2.07 0.00 1.71 2.59 0.17 2.12 0.04 1.16 0.27 2.42 0.20 2.02
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 57.94 73.78 59.40 60.44 94.09 63.55 83.39 99.73 84.90 85.92 100.00 87.22
All / Est 0.68 0.00 0.68 0.64 0.00 0.64 0.02 0.00 0.02 0.95 0.00 0.95
Noc / All 57.60 73.78 59.11 51.69 91.01 54.45 79.74 99.64 81.46 82.53 100.00 83.76
Noc / Est 0.68 0.00 0.68 0.64 0.00 0.64 0.02 0.00 0.02 0.95 0.00 0.95
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 65.13 91.61 69.52 68.94 92.98 72.92 87.24 94.72 88.48 88.53 96.37 89.83
All / Est 0.04 0.00 0.03 0.04 0.00 0.03 0.19 0.00 0.16 0.49 0.00 0.42
Noc / All 64.75 91.61 69.28 64.29 91.86 69.04 84.72 94.53 86.56 86.06 95.78 87.73
Noc / Est 0.04 0.00 0.03 0.04 0.00 0.03 0.19 0.00 0.16 0.49 0.00 0.42
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 62.44 76.81 63.74 62.67 76.62 63.93 81.93 27.18 77.01 86.28 79.23 85.64
All / Est 0.90 0.00 0.71 0.44 0.00 0.35 0.00 0.00 0.00 1.62 0.00 1.28
Noc / All 61.61 76.81 63.01 55.85 76.62 58.05 79.19 27.18 73.84 83.58 79.23 83.11
Noc / Est 0.90 0.00 0.71 0.44 0.00 0.35 0.00 0.00 0.00 1.62 0.00 1.28
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 56.71 42.48 55.21 58.89 53.09 58.28 80.36 55.86 77.78 84.13 66.02 82.22
All / Est 0.78 0.33 0.64 0.82 0.54 0.74 0.21 0.00 0.15 1.58 2.46 1.84
Noc / All 56.60 42.48 55.08 53.64 53.09 53.57 77.49 55.86 74.92 81.32 66.02 79.46
Noc / Est 0.78 0.33 0.64 0.82 0.54 0.74 0.21 0.00 0.15 1.58 2.46 1.84
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 15.04 89.75 29.66 14.35 89.29 29.02 3.09 94.80 21.04 17.90 94.81 32.95
All / Est 0.88 0.00 0.86 0.78 0.00 0.75 0.00 8.64 0.26 0.94 8.66 1.18
Noc / All 15.23 89.75 30.01 14.53 88.90 28.62 3.09 94.55 20.19 18.14 94.56 32.62
Noc / Est 0.88 0.00 0.86 0.78 0.00 0.75 0.00 8.64 0.26 0.94 8.66 1.18
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 22.70 85.25 34.25 22.40 85.30 34.01 3.12 89.23 19.02 24.91 89.23 36.79
All / Est 0.86 0.00 0.84 0.77 0.00 0.76 0.02 1.74 0.06 0.91 1.75 0.93
Noc / All 22.68 85.25 34.24 22.37 85.30 34.00 3.12 89.23 19.02 24.89 89.23 36.78
Noc / Est 0.86 0.00 0.84 0.77 0.00 0.76 0.02 1.74 0.06 0.91 1.75 0.93
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 23.89 74.11 36.72 23.96 74.20 36.80 0.94 80.22 21.19 24.91 80.72 39.17
All / Est 0.62 0.00 0.56 0.57 0.00 0.52 0.00 0.09 0.01 0.73 0.09 0.67
Noc / All 24.14 75.78 37.00 24.21 75.90 37.08 0.94 80.22 21.19 25.17 82.72 39.50
Noc / Est 0.62 0.00 0.56 0.57 0.00 0.52 0.00 0.09 0.01 0.73 0.09 0.67
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 29.98 55.77 35.86 31.62 59.90 38.08 62.49 71.79 64.61 65.67 78.43 68.58
All / Est 1.39 0.00 1.12 1.80 0.00 1.45 1.01 0.05 0.82 2.40 0.11 1.96
Noc / All 29.69 55.77 35.71 23.15 62.62 33.17 55.70 71.79 59.89 58.92 77.31 63.59
Noc / Est 1.39 0.00 1.12 1.80 0.00 1.45 1.01 0.05 0.82 2.40 0.11 1.96
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 37.37 59.58 41.36 40.29 68.63 45.38 65.23 83.08 68.43 66.93 88.47 70.80
All / Est 0.13 0.00 0.12 0.13 0.00 0.12 0.08 0.00 0.08 0.42 0.31 0.41
Noc / All 36.99 59.58 41.08 31.44 68.70 38.55 59.92 83.07 64.58 61.34 87.47 66.32
Noc / Est 0.13 0.00 0.12 0.13 0.00 0.12 0.08 0.00 0.08 0.42 0.31 0.41
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 49.49 49.61 49.50 51.41 50.88 51.37 72.45 53.32 71.16 75.21 60.82 74.24
All / Est 0.13 0.00 0.12 0.15 0.11 0.14 0.33 0.17 0.32 0.68 0.23 0.63
Noc / All 49.23 49.61 49.25 42.06 50.88 42.78 67.17 53.32 66.07 70.09 60.82 69.34
Noc / Est 0.13 0.00 0.12 0.15 0.11 0.14 0.33 0.17 0.32 0.68 0.23 0.63
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 52.25 78.40 55.46 54.10 92.46 58.81 71.63 100.00 75.11 74.38 100.00 77.52
All / Est 0.14 0.00 0.14 0.13 0.00 0.13 0.08 0.00 0.08 0.24 0.00 0.24
Noc / All 51.96 78.40 55.24 44.59 88.50 48.84 65.80 100.00 69.77 68.68 100.00 71.71
Noc / Est 0.14 0.00 0.14 0.13 0.00 0.13 0.08 0.00 0.08 0.24 0.00 0.24
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 44.95 69.36 45.37 49.34 77.46 49.83 70.04 88.14 70.36 71.82 89.71 72.13
All / Est 0.20 0.00 0.20 0.29 0.00 0.29 0.27 0.00 0.26 0.65 0.00 0.64
Noc / All 44.66 69.36 45.09 39.29 77.46 40.09 64.29 88.14 64.78 66.09 89.71 66.59
Noc / Est 0.20 0.00 0.20 0.29 0.00 0.29 0.27 0.00 0.26 0.65 0.00 0.64
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 61.35 74.62 62.55 66.81 77.31 67.76 87.40 80.35 86.76 89.10 86.06 88.82
All / Est 0.16 0.00 0.13 0.25 0.00 0.20 0.81 0.44 0.74 1.66 0.59 1.47
Noc / All 61.11 74.62 62.36 58.60 77.31 60.80 83.80 80.35 83.41 85.89 86.06 85.91
Noc / Est 0.16 0.00 0.13 0.25 0.00 0.20 0.81 0.44 0.74 1.66 0.59 1.47
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 56.99 97.84 63.01 59.63 99.79 65.54 85.65 100.00 87.76 87.12 100.00 89.02
All / Est 1.72 0.00 1.72 2.13 0.00 2.13 0.13 0.00 0.13 2.46 0.00 2.46
Noc / All 56.78 97.84 62.88 47.73 99.79 57.36 81.77 100.00 85.05 83.06 100.00 86.19
Noc / Est 1.72 0.00 1.72 2.13 0.00 2.13 0.13 0.00 0.13 2.46 0.00 2.46
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 48.56 72.82 51.09 54.86 88.05 58.32 81.43 88.40 82.16 83.17 91.84 84.07
All / Est 0.57 0.00 0.52 0.53 0.00 0.48 1.02 0.00 0.93 1.30 0.00 1.18
Noc / All 48.15 72.82 50.76 44.34 88.05 50.11 76.30 88.40 77.87 78.07 91.84 79.89
Noc / Est 0.57 0.00 0.52 0.53 0.00 0.48 1.02 0.00 0.93 1.30 0.00 1.18
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 57.96 100.00 77.94 59.61 100.00 78.80 79.23 100.00 89.10 80.67 100.00 89.86
All / Est 0.48 0.00 0.48 0.57 0.00 0.57 0.10 0.00 0.10 0.65 0.00 0.65
Noc / All 57.34 100.00 77.80 46.09 100.00 57.43 72.33 100.00 79.96 74.03 100.00 79.49
Noc / Est 0.48 0.00 0.48 0.57 0.00 0.57 0.10 0.00 0.10 0.65 0.00 0.65
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 51.85 89.18 56.08 53.37 92.49 57.80 80.90 92.01 82.16 82.00 94.15 83.38
All / Est 0.16 0.00 0.15 0.10 0.00 0.10 0.07 0.00 0.06 0.37 0.00 0.34
Noc / All 51.38 89.18 55.72 39.63 92.49 47.41 74.70 92.01 77.21 75.69 94.15 78.41
Noc / Est 0.16 0.00 0.15 0.10 0.00 0.10 0.07 0.00 0.06 0.37 0.00 0.34
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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