Method

Dense Wide-Baseline Scene Flow from Two Handheld Video Cameras [DWBSF]


Submitted on 6 Nov. 2015 13:45 by
Christian Richardt (Intel VCI + MPI Informatik)

Running time:7 min
Environment:4 cores @ 3.5 Ghz (C/C++)

Method Description:
We compute dense, wide-baseline correspondences
using DAISY descriptors with PMBP
regularization for matching between cameras and
over time. We then detect and replace occluded
pixels in the correspondence fields using a
novel edge-preserving Laplacian correspondence
completion technique. We finally refine the
computed correspondence fields in a variational
scene flow formulation.
Parameters:
w_D = 1
tau_p = 50

stereo:
- 4 passes, each with 2 iterations of PMBP
- first pass: w_D = w_C = w_E = 1
- other passes: w_C = 10
- w_p = 0.01, 0.02, 0.1, 1 for passes 1 to 4
- no colour transform estimation

optical flow:
- 2 passes, with 6 and 4 iterations of PMBP
- pass 1: precomputed DAISY descriptors
- w_D = 1
- w_C = 20
- w_E = 0
- w_p = 0.1
Latex Bibtex:
@inproceedings{Richardt2016THREEDV,
author = {Christian Richardt and Hyeongwoo
Kim and Levi Valgaerts and Christian Theobalt},
title = {Dense Wide-Baseline Scene Flow
From Two Handheld Video Cameras},
booktitle = {3DV},
year = {2016},
month = {October},
url =
{http://richardt.name/publications/wide-baseline-
scene-flow/},
}

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 19.61 22.69 20.12 35.72 28.15 34.46 40.74 35.53 39.87 46.42 43.99 46.02
All / Est 19.61 22.69 20.12 35.72 28.15 34.46 40.74 35.53 39.87 46.42 43.99 46.02
Noc / All 18.76 21.14 19.16 23.92 21.88 23.55 30.13 31.33 30.35 35.65 38.40 36.14
Noc / Est 18.76 21.14 19.16 23.92 21.88 23.55 30.13 31.33 30.35 35.65 38.40 36.14
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 14.96 7.83 13.99 18.19 8.89 16.91 30.75 71.91 36.40 34.19 72.11 39.39
All / Est 14.96 7.83 13.99 18.19 8.89 16.91 30.75 71.91 36.40 34.19 72.11 39.39
Noc / All 14.61 7.83 13.67 10.84 8.89 10.54 22.20 71.91 29.74 24.28 72.11 31.68
Noc / Est 14.61 7.83 13.67 10.84 8.89 10.54 22.20 71.91 29.74 24.28 72.11 31.68
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 14.15 9.09 13.58 21.91 11.31 20.73 27.60 43.09 29.33 31.90 44.79 33.34
All / Est 14.15 9.09 13.58 21.91 11.31 20.73 27.60 43.09 29.33 31.90 44.79 33.34
Noc / All 13.33 9.09 12.85 11.51 11.31 11.48 18.89 43.09 21.88 21.87 44.79 24.77
Noc / Est 13.33 9.09 12.85 11.51 11.31 11.48 18.89 43.09 21.88 21.87 44.79 24.77
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 26.31 5.50 25.30 34.53 5.73 33.13 42.14 31.46 41.63 47.13 32.35 46.41
All / Est 26.31 5.50 25.30 34.53 5.73 33.13 42.14 31.46 41.63 47.13 32.35 46.41
Noc / All 25.62 5.50 24.62 22.77 5.73 21.76 30.06 31.46 30.15 34.65 32.35 34.51
Noc / Est 25.62 5.50 24.62 22.77 5.73 21.76 30.06 31.46 30.15 34.65 32.35 34.51
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 26.03 39.38 27.26 41.23 58.18 42.79 51.47 88.33 54.88 54.88 89.53 58.09
All / Est 26.03 39.38 27.26 41.23 58.18 42.79 51.47 88.33 54.88 54.88 89.53 58.09
Noc / All 25.41 39.38 26.71 27.21 33.41 27.64 40.03 84.42 43.86 43.28 82.29 46.03
Noc / Est 25.41 39.38 26.71 27.21 33.41 27.64 40.03 84.42 43.86 43.28 82.29 46.03
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 26.80 26.31 26.71 41.38 53.13 43.33 49.29 64.62 51.83 51.66 76.75 55.82
All / Est 26.80 26.31 26.71 41.38 53.13 43.33 49.29 64.62 51.83 51.66 76.75 55.82
Noc / All 25.25 26.31 25.43 29.03 47.07 32.14 39.27 63.37 43.77 41.23 73.02 46.71
Noc / Est 25.25 26.31 25.43 29.03 47.07 32.14 39.27 63.37 43.77 41.23 73.02 46.71
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 35.31 8.64 32.91 41.84 8.44 38.84 39.95 0.11 36.37 47.98 8.65 44.45
All / Est 35.31 8.64 32.91 41.84 8.44 38.84 39.95 0.11 36.37 47.98 8.65 44.45
Noc / All 33.90 8.64 31.58 31.31 8.44 28.88 30.31 0.11 27.20 37.55 8.65 34.48
Noc / Est 33.90 8.64 31.58 31.31 8.44 28.88 30.31 0.11 27.20 37.55 8.65 34.48
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 33.80 5.39 30.81 41.89 5.78 38.09 47.55 0.91 42.64 52.74 6.16 47.83
All / Est 33.80 5.39 30.81 41.89 5.78 38.09 47.55 0.91 42.64 52.74 6.16 47.83
Noc / All 32.81 5.39 29.86 33.45 5.78 30.08 39.91 0.91 35.27 44.43 6.16 39.76
Noc / Est 32.81 5.39 29.86 33.45 5.78 30.08 39.91 0.91 35.27 44.43 6.16 39.76
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 14.98 30.12 17.94 15.02 29.18 17.79 5.44 79.68 19.97 19.06 80.19 31.03
All / Est 14.98 30.12 17.94 15.02 29.18 17.79 5.44 79.68 19.97 19.06 80.19 31.03
Noc / All 14.79 30.12 17.83 14.83 27.52 17.23 5.44 78.49 19.10 18.94 79.04 30.33
Noc / Est 14.79 30.12 17.83 14.83 27.52 17.23 5.44 78.49 19.10 18.94 79.04 30.33
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 15.11 10.94 14.34 15.08 11.22 14.36 7.19 39.83 13.22 20.71 39.92 24.26
All / Est 15.11 10.94 14.34 15.08 11.22 14.36 7.19 39.83 13.22 20.71 39.92 24.26
Noc / All 15.12 10.94 14.35 15.08 11.22 14.36 7.19 39.83 13.22 20.70 39.92 24.25
Noc / Est 15.12 10.94 14.35 15.08 11.22 14.36 7.19 39.83 13.22 20.70 39.92 24.25
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 17.90 10.52 16.02 17.89 10.52 16.00 7.30 73.87 24.31 23.47 73.93 36.36
All / Est 17.90 10.52 16.02 17.89 10.52 16.00 7.30 73.87 24.31 23.47 73.93 36.36
Noc / All 17.66 11.03 16.01 17.64 11.04 16.00 7.30 73.87 24.31 23.22 72.64 35.52
Noc / Est 17.66 11.03 16.01 17.64 11.04 16.00 7.30 73.87 24.31 23.22 72.64 35.52
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 20.34 12.35 18.51 23.01 15.53 21.30 35.46 29.92 34.20 38.36 33.37 37.22
All / Est 20.34 12.35 18.51 23.01 15.53 21.30 35.46 29.92 34.20 38.36 33.37 37.22
Noc / All 19.40 12.35 17.77 10.23 11.81 10.63 24.05 29.92 25.57 26.34 29.90 27.25
Noc / Est 19.40 12.35 17.77 10.23 11.81 10.63 24.05 29.92 25.57 26.34 29.90 27.25
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 15.16 16.17 15.34 25.63 19.43 24.52 33.01 25.48 31.66 34.84 30.24 34.02
All / Est 15.16 16.17 15.34 25.63 19.43 24.52 33.01 25.48 31.66 34.84 30.24 34.02
Noc / All 14.74 16.17 14.99 14.33 12.69 14.02 22.87 25.40 23.38 24.02 24.18 24.05
Noc / Est 14.74 16.17 14.99 14.33 12.69 14.02 22.87 25.40 23.38 24.02 24.18 24.05
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 11.71 8.46 11.49 27.59 10.06 26.41 40.22 17.17 38.67 40.60 17.87 39.07
All / Est 11.71 8.46 11.49 27.59 10.06 26.41 40.22 17.17 38.67 40.60 17.87 39.07
Noc / All 11.15 8.46 10.97 12.98 10.06 12.74 28.44 17.17 27.54 27.71 17.87 26.91
Noc / Est 11.15 8.46 10.97 12.98 10.06 12.74 28.44 17.17 27.54 27.71 17.87 26.91
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 13.32 25.69 14.84 27.49 52.21 30.52 36.94 41.48 37.50 37.48 54.30 39.54
All / Est 13.32 25.69 14.84 27.49 52.21 30.52 36.94 41.48 37.50 37.48 54.30 39.54
Noc / All 12.55 25.69 14.18 11.92 23.53 13.04 23.85 25.00 23.98 23.57 26.88 23.89
Noc / Est 12.55 25.69 14.18 11.92 23.53 13.04 23.85 25.00 23.98 23.57 26.88 23.89
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 8.55 8.43 8.55 28.88 9.78 28.55 37.02 12.70 36.60 37.64 13.43 37.22
All / Est 8.55 8.43 8.55 28.88 9.78 28.55 37.02 12.70 36.60 37.64 13.43 37.22
Noc / All 7.86 8.43 7.87 14.84 9.78 14.74 24.29 12.70 24.05 23.98 13.43 23.76
Noc / Est 7.86 8.43 7.87 14.84 9.78 14.74 24.29 12.70 24.05 23.98 13.43 23.76
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 17.01 6.20 16.03 41.16 7.60 38.12 56.77 41.94 55.43 58.28 42.89 56.89
All / Est 17.01 6.20 16.03 41.16 7.60 38.12 56.77 41.94 55.43 58.28 42.89 56.89
Noc / All 16.87 6.20 15.89 24.29 7.60 22.32 43.64 41.94 43.44 44.34 42.89 44.17
Noc / Est 16.87 6.20 15.89 24.29 7.60 22.32 43.64 41.94 43.44 44.34 42.89 44.17
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 22.97 14.65 21.75 41.79 19.01 38.44 49.74 43.11 48.76 51.24 49.92 51.04
All / Est 22.97 14.65 21.75 41.79 19.01 38.44 49.74 43.11 48.76 51.24 49.92 51.04
Noc / All 22.39 14.65 21.24 24.87 19.01 23.79 36.16 43.11 37.41 35.85 49.92 38.45
Noc / Est 22.39 14.65 21.24 24.87 19.01 23.79 36.16 43.11 37.41 35.85 49.92 38.45
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 11.59 4.62 10.86 40.67 5.78 37.03 53.18 19.50 49.67 54.03 21.31 50.62
All / Est 11.59 4.62 10.86 40.67 5.78 37.03 53.18 19.50 49.67 54.03 21.31 50.62
Noc / All 10.75 4.62 10.10 23.78 5.78 21.40 40.13 19.50 37.46 39.89 21.31 37.43
Noc / Est 10.75 4.62 10.10 23.78 5.78 21.40 40.13 19.50 37.46 39.89 21.31 37.43
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 20.71 41.24 30.46 42.60 97.60 68.73 50.75 98.96 73.65 51.57 99.89 74.53
All / Est 20.71 41.24 30.46 42.60 97.60 68.73 50.75 98.96 73.65 51.57 99.89 74.53
Noc / All 20.13 41.24 30.26 23.20 90.73 37.41 34.16 96.69 51.41 34.52 99.51 48.19
Noc / Est 20.13 41.24 30.26 23.20 90.73 37.41 34.16 96.69 51.41 34.52 99.51 48.19
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 13.58 7.27 12.87 41.60 8.68 37.88 51.96 21.60 48.53 52.91 22.68 49.49
All / Est 13.58 7.27 12.87 41.60 8.68 37.88 51.96 21.60 48.53 52.91 22.68 49.49
Noc / All 12.60 7.27 11.99 22.54 8.68 20.50 36.26 21.60 34.14 36.31 22.68 34.30
Noc / Est 12.60 7.27 11.99 22.54 8.68 20.50 36.26 21.60 34.14 36.31 22.68 34.30
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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