Method

Piecewise Rigid Scene Model (IJCV-Version)[mv] [PRSM]
http://www.prs.igp.ethz.ch/research/projects/piecewise_rigid_scene_flow.html

Submitted on 22 Mar. 2016 10:55 by
Christoph Vogel (TU Graz)

Running time:300 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
Dense 3D Scene Flow Method from stereo video.
Estimates depth and 3D motion from multiple
consecutive frames in a sliding temporal
window.
The reconstruction is not only performed wrt. a
reference frame but for all frames involved
such that the reconstruction is consistent in
all cameras and time steps.
This is essentially the former ECCV version
with some minor updates described in the IJCV
paper as local replacement strategy and
hierarchical refinement.
Parameters:
Exactly as in the code and described in the paper.
Latex Bibtex:
@article{Vogel2015IJCV,
year={2015},
issn={0920-5691},
journal= ijcv,
doi={10.1007/s11263-015-0806-0},
title={3D Scene Flow Estimation with a
Piecewise Rigid Scene Model},
publisher={Springer US},
keywords={3D scene flow; Stereo; Motion
estimation; Piecewise planarity; Piecewise
rigidity; Segmentation},
author={Vogel, Christoph and Schindler, Konrad
and Roth, Stefan},
pages={1-28},
language={English}
}

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 3.02 10.52 4.27 5.13 15.11 6.79 5.33 13.40 6.68 6.61 20.79 8.97
All / Est 3.01 10.52 4.26 5.12 15.10 6.79 5.33 13.40 6.68 6.60 20.78 8.96
Noc / All 2.93 10.00 4.10 4.13 12.85 5.69 4.33 10.80 5.50 5.54 17.65 7.71
Noc / Est 2.93 10.00 4.09 4.13 12.85 5.69 4.33 10.80 5.50 5.54 17.64 7.71
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 3.73 2.23 3.53 3.88 2.24 3.66 2.46 19.29 4.77 4.52 19.65 6.60
All / Est 3.73 2.23 3.53 3.88 2.24 3.66 2.46 19.29 4.77 4.52 19.65 6.60
Noc / All 3.69 2.23 3.49 3.87 2.24 3.62 2.32 19.29 4.89 4.57 19.65 6.90
Noc / Est 3.69 2.23 3.49 3.87 2.24 3.62 2.32 19.29 4.89 4.57 19.65 6.90
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 3.49 3.76 3.52 3.70 7.56 4.13 2.58 12.79 3.72 3.96 17.43 5.46
All / Est 3.49 3.76 3.52 3.70 7.56 4.13 2.58 12.79 3.72 3.96 17.43 5.46
Noc / All 3.06 3.76 3.14 3.24 7.56 3.79 2.20 12.79 3.51 3.52 17.43 5.28
Noc / Est 3.06 3.76 3.14 3.24 7.56 3.79 2.20 12.79 3.51 3.52 17.43 5.28
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 3.45 2.26 3.39 3.61 2.26 3.54 3.13 2.22 3.09 4.02 2.26 3.93
All / Est 3.45 2.26 3.39 3.61 2.26 3.54 3.13 2.22 3.09 4.02 2.26 3.93
Noc / All 3.24 2.26 3.19 3.69 2.26 3.60 3.00 2.22 2.95 4.03 2.26 3.93
Noc / Est 3.24 2.26 3.19 3.69 2.26 3.60 3.00 2.22 2.95 4.03 2.26 3.93
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 4.60 4.95 4.63 5.81 9.69 6.17 5.17 22.15 6.74 6.17 22.15 7.64
All / Est 4.60 4.95 4.63 5.81 9.69 6.17 5.17 22.15 6.74 6.17 22.15 7.64
Noc / All 4.55 4.95 4.58 5.54 6.79 5.63 4.93 24.04 6.58 5.84 15.62 6.53
Noc / Est 4.55 4.95 4.58 5.54 6.79 5.63 4.93 24.04 6.58 5.84 15.62 6.53
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 1.59 6.37 2.39 2.43 9.54 3.61 3.94 15.10 5.79 4.53 16.27 6.48
All / Est 1.59 6.37 2.39 2.43 9.54 3.61 3.94 15.10 5.79 4.53 16.27 6.48
Noc / All 1.58 6.37 2.39 2.17 6.32 2.88 4.37 14.57 6.28 4.54 13.46 6.08
Noc / Est 1.58 6.37 2.39 2.17 6.32 2.88 4.37 14.57 6.28 4.54 13.46 6.08
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 6.57 4.85 6.41 7.30 4.78 7.07 5.14 0.26 4.70 7.96 4.95 7.69
All / Est 6.57 4.85 6.41 7.30 4.78 7.07 5.14 0.26 4.70 7.96 4.95 7.69
Noc / All 6.38 4.85 6.24 7.31 4.78 7.04 5.26 0.26 4.75 8.10 4.95 7.76
Noc / Est 6.38 4.85 6.24 7.31 4.78 7.04 5.26 0.26 4.75 8.10 4.95 7.76
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 7.26 4.28 6.95 7.66 4.36 7.32 6.31 0.69 5.71 8.30 4.36 7.89
All / Est 7.26 4.28 6.95 7.66 4.36 7.32 6.31 0.69 5.71 8.30 4.36 7.89
Noc / All 7.42 4.28 7.09 6.53 4.36 6.26 4.87 0.69 4.37 7.21 4.36 6.86
Noc / Est 7.42 4.28 7.09 6.53 4.36 6.26 4.87 0.69 4.37 7.21 4.36 6.86
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 2.23 5.14 2.80 2.26 5.92 2.97 0.38 100.00 19.88 2.57 100.00 21.64
All / Est 2.23 5.14 2.80 2.26 5.92 2.97 0.38 100.00 19.88 2.57 100.00 21.64
Noc / All 2.27 5.14 2.84 2.29 5.43 2.89 0.38 100.00 19.00 2.61 100.00 21.06
Noc / Est 2.27 5.14 2.84 2.29 5.43 2.89 0.38 100.00 19.00 2.61 100.00 21.06
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 2.32 4.64 2.74 2.35 5.33 2.90 0.43 43.53 8.39 2.73 43.56 10.27
All / Est 2.32 4.64 2.74 2.35 5.33 2.90 0.43 43.53 8.39 2.73 43.56 10.27
Noc / All 2.31 4.64 2.74 2.33 5.33 2.88 0.43 43.53 8.39 2.71 43.56 10.26
Noc / Est 2.31 4.64 2.74 2.33 5.33 2.88 0.43 43.53 8.39 2.71 43.56 10.26
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 2.87 3.07 2.92 2.84 3.07 2.90 0.77 32.51 8.88 3.54 32.51 10.94
All / Est 2.87 3.07 2.92 2.84 3.07 2.90 0.77 32.51 8.88 3.54 32.51 10.94
Noc / All 2.91 3.09 2.96 2.88 3.09 2.93 0.77 32.51 8.88 3.56 33.86 11.10
Noc / Est 2.91 3.09 2.96 2.88 3.09 2.93 0.77 32.51 8.88 3.56 33.86 11.10
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 2.58 5.77 3.31 4.30 6.09 4.71 2.31 11.02 4.30 5.11 11.16 6.49
All / Est 2.58 5.77 3.31 4.30 6.09 4.71 2.31 11.02 4.30 5.11 11.16 6.49
Noc / All 2.62 5.77 3.35 4.21 5.02 4.42 2.60 11.02 4.79 5.14 10.36 6.47
Noc / Est 2.62 5.77 3.35 4.21 5.02 4.42 2.60 11.02 4.79 5.14 10.36 6.47
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 1.78 1.27 1.68 2.48 1.52 2.30 2.79 5.08 3.20 3.31 5.22 3.65
All / Est 1.78 1.27 1.68 2.48 1.52 2.30 2.79 5.08 3.20 3.31 5.22 3.65
Noc / All 1.78 1.27 1.69 2.78 1.63 2.56 3.19 5.09 3.57 3.75 5.50 4.08
Noc / Est 1.78 1.27 1.69 2.78 1.63 2.56 3.19 5.09 3.57 3.75 5.50 4.08
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 1.10 2.90 1.22 1.31 2.92 1.42 2.14 4.15 2.28 2.30 4.15 2.42
All / Est 1.10 2.90 1.22 1.31 2.92 1.42 2.14 4.15 2.28 2.30 4.15 2.42
Noc / All 0.99 2.90 1.12 1.00 2.92 1.15 1.85 4.15 2.03 2.01 4.15 2.18
Noc / Est 0.99 2.90 1.12 1.00 2.92 1.15 1.85 4.15 2.03 2.01 4.15 2.18
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 1.14 0.73 1.09 1.61 4.15 1.92 2.06 6.96 2.66 2.35 7.21 2.95
All / Est 1.14 0.73 1.09 1.61 4.15 1.92 2.06 6.96 2.66 2.35 7.21 2.95
Noc / All 1.08 0.73 1.04 1.29 4.14 1.56 1.84 7.54 2.50 1.92 8.32 2.54
Noc / Est 1.08 0.73 1.04 1.29 4.14 1.56 1.84 7.54 2.50 1.92 8.32 2.54
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 1.33 5.34 1.40 1.96 5.56 2.02 2.64 7.25 2.72 2.92 7.25 2.99
All / Est 1.33 5.34 1.40 1.96 5.56 2.02 2.64 7.25 2.72 2.92 7.25 2.99
Noc / All 1.23 5.34 1.30 1.26 5.56 1.35 1.97 7.25 2.08 1.91 7.25 2.03
Noc / Est 1.23 5.34 1.30 1.26 5.56 1.35 1.97 7.25 2.08 1.91 7.25 2.03
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 4.18 2.89 4.07 6.03 3.54 5.81 6.80 3.57 6.50 7.40 4.44 7.13
All / Est 4.18 2.89 4.07 6.03 3.54 5.81 6.80 3.57 6.50 7.40 4.44 7.13
Noc / All 4.23 2.89 4.10 5.03 3.54 4.86 5.71 3.57 5.47 6.23 4.44 6.02
Noc / Est 4.23 2.89 4.10 5.03 3.54 4.86 5.71 3.57 5.47 6.23 4.44 6.02
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 5.53 2.58 5.10 7.99 15.13 9.04 9.09 26.05 11.58 9.71 35.57 13.52
All / Est 5.53 2.58 5.10 7.99 15.13 9.04 9.09 26.05 11.58 9.71 35.57 13.52
Noc / All 5.28 2.58 4.88 6.15 15.13 7.81 7.40 26.05 10.75 7.92 35.57 13.04
Noc / Est 5.28 2.58 4.88 6.15 15.13 7.81 7.40 26.05 10.75 7.92 35.57 13.04
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 2.25 1.54 2.17 3.63 6.06 3.88 4.20 16.32 5.46 4.99 16.74 6.21
All / Est 2.25 1.54 2.17 3.63 6.06 3.88 4.20 16.32 5.46 4.99 16.74 6.21
Noc / All 2.27 1.54 2.19 3.54 6.06 3.88 4.05 16.32 5.64 4.74 16.74 6.33
Noc / Est 2.27 1.54 2.19 3.54 6.06 3.88 4.05 16.32 5.64 4.74 16.74 6.33
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 7.95 25.61 16.34 10.51 78.10 42.62 11.25 80.27 44.04 12.49 95.95 52.14
All / Est 7.95 25.61 16.34 10.51 78.10 42.62 11.25 80.27 44.04 12.49 95.95 52.14
Noc / All 7.98 25.61 16.43 8.30 73.75 22.07 8.83 46.22 19.14 10.02 87.47 26.31
Noc / Est 7.98 25.61 16.43 8.30 73.75 22.07 8.83 46.22 19.14 10.02 87.47 26.31
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 1.50 4.71 1.87 1.91 5.98 2.37 2.51 5.92 2.90 2.66 6.97 3.15
All / Est 1.50 4.71 1.87 1.91 5.98 2.37 2.51 5.92 2.90 2.66 6.97 3.15
Noc / All 1.52 4.71 1.89 1.98 5.98 2.57 2.60 5.92 3.08 2.72 6.97 3.34
Noc / Est 1.52 4.71 1.89 1.98 5.98 2.57 2.60 5.92 3.08 2.72 6.97 3.34
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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