Method

High precision and NEW Real-time and Low-complexity Sparse Scene-Flow [HNRLSSF]


Submitted on 17 Mar. 2022 08:24 by
erfan salehi (student)

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

Method Description:
T
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 53.78 69.28 56.36 56.66 69.33 58.77 68.00 71.33 68.55 74.75 81.14 75.81
All / Est 0.42 0.44 0.42 0.52 0.52 0.52 0.20 0.08 0.18 3.25 13.73 5.00
Noc / All 53.39 68.60 55.90 49.24 66.75 52.37 62.31 69.49 63.62 69.80 79.34 71.51
Noc / Est 0.42 0.44 0.42 0.51 0.52 0.51 0.20 0.08 0.18 3.25 13.73 5.00
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 37.90 75.18 43.02 39.57 78.14 44.86 70.97 87.19 73.20 77.06 93.15 79.27
All / Est 0.49 0.00 0.46 0.62 0.00 0.57 0.23 0.00 0.23 1.31 31.72 3.11
Noc / All 37.64 75.18 42.87 33.37 78.14 40.29 67.38 87.19 70.39 73.60 93.15 76.62
Noc / Est 0.49 0.00 0.46 0.62 0.00 0.57 0.23 0.00 0.23 1.31 31.72 3.11
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 26.80 80.49 32.79 33.30 80.83 38.61 58.21 85.21 61.23 61.98 91.44 65.27
All / Est 2.26 0.00 2.17 2.10 0.00 2.00 0.10 0.10 0.10 3.44 1.15 3.35
Noc / All 26.09 80.49 32.25 27.19 80.83 33.96 53.21 85.21 57.16 56.36 91.44 60.79
Noc / Est 2.26 0.00 2.17 2.10 0.00 2.00 0.10 0.10 0.10 3.44 1.15 3.35
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 39.02 56.19 39.85 42.92 64.43 43.97 77.41 67.45 76.93 81.32 82.83 81.40
All / Est 0.66 0.00 0.56 0.93 0.00 0.82 0.12 0.00 0.11 1.78 10.12 2.98
Noc / All 38.07 56.19 38.97 31.02 64.43 33.00 72.70 67.45 72.39 76.90 82.83 77.25
Noc / Est 0.66 0.00 0.56 0.93 0.00 0.82 0.12 0.00 0.11 1.78 10.12 2.98
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 63.04 74.65 64.11 65.48 92.34 67.96 81.25 100.00 82.98 84.13 100.00 85.60
All / Est 1.15 0.00 1.14 1.02 0.00 1.01 0.05 0.00 0.05 3.81 100.00 4.06
Noc / All 62.71 74.65 63.83 57.94 87.88 60.04 77.15 100.00 79.12 80.35 100.00 81.74
Noc / Est 1.15 0.00 1.14 1.02 0.00 1.01 0.05 0.00 0.05 3.81 100.00 4.06
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 60.04 90.24 65.05 64.34 92.54 69.02 82.41 94.37 84.39 84.14 94.87 85.92
All / Est 0.32 0.00 0.28 0.20 0.00 0.17 0.15 0.00 0.13 5.75 1.09 5.19
Noc / All 59.52 90.24 64.70 60.61 91.34 65.91 78.93 94.17 81.78 80.72 94.04 83.01
Noc / Est 0.32 0.00 0.28 0.20 0.00 0.17 0.15 0.00 0.13 5.75 1.09 5.19
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 51.15 54.64 51.46 52.30 55.60 52.60 75.64 5.26 69.32 81.85 57.37 79.65
All / Est 0.08 0.00 0.06 0.22 0.00 0.16 0.06 0.00 0.05 1.45 0.15 1.07
Noc / All 50.06 54.64 50.48 43.91 55.60 45.15 71.81 5.26 64.97 78.34 57.37 76.12
Noc / Est 0.08 0.00 0.06 0.22 0.00 0.16 0.06 0.00 0.05 1.45 0.15 1.07
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 47.95 38.11 46.91 50.84 40.63 49.76 71.35 20.13 65.95 78.54 48.66 75.39
All / Est 0.63 0.00 0.42 0.71 0.00 0.48 0.38 0.00 0.27 4.31 5.68 4.77
Noc / All 47.78 38.11 46.74 46.34 40.63 45.65 67.23 20.13 61.63 74.73 48.66 71.56
Noc / Est 0.63 0.00 0.42 0.71 0.00 0.48 0.38 0.00 0.27 4.31 5.68 4.77
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 15.59 79.28 28.05 14.30 79.09 26.98 2.33 94.32 20.33 18.39 94.32 33.25
All / Est 0.24 0.00 0.22 0.24 0.00 0.22 0.03 0.00 0.02 0.37 43.22 3.75
Noc / All 15.73 79.28 28.33 14.41 77.92 26.45 2.33 93.99 19.46 18.56 93.99 32.85
Noc / Est 0.24 0.00 0.22 0.24 0.00 0.22 0.03 0.00 0.02 0.37 43.22 3.75
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 18.21 56.02 25.19 15.58 52.69 22.43 0.00 73.94 13.65 18.90 73.95 29.06
All / Est 0.18 0.00 0.16 0.18 0.00 0.16 0.00 0.51 0.02 0.30 36.39 4.22
Noc / All 18.19 56.02 25.18 15.56 52.69 22.42 0.00 73.94 13.65 18.88 73.95 29.06
Noc / Est 0.18 0.00 0.16 0.18 0.00 0.16 0.00 0.51 0.02 0.30 36.39 4.22
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 17.93 67.53 30.60 18.05 66.95 30.54 0.00 84.04 21.47 19.88 84.08 36.28
All / Est 0.09 0.00 0.08 0.11 0.00 0.09 0.00 0.00 0.00 0.27 26.63 3.93
Noc / All 18.10 68.64 30.69 18.25 68.11 30.66 0.00 84.04 21.47 20.08 85.87 36.46
Noc / Est 0.09 0.00 0.08 0.11 0.00 0.09 0.00 0.00 0.00 0.27 26.63 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 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 32.66 40.73 34.50 34.62 45.01 36.99 52.65 72.49 57.18 56.74 76.04 61.15
All / Est 0.83 0.00 0.65 1.30 0.03 1.02 0.44 0.00 0.38 2.66 19.80 6.44
Noc / All 32.31 40.73 34.25 24.48 47.35 30.29 44.30 72.49 51.63 48.34 74.80 55.06
Noc / Est 0.83 0.00 0.65 1.30 0.03 1.02 0.44 0.00 0.38 2.66 19.80 6.44
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 39.20 45.98 40.42 38.38 52.66 40.94 57.10 84.30 61.99 58.83 89.95 64.42
All / Est 0.11 0.00 0.10 0.17 0.00 0.16 0.05 0.07 0.05 1.37 29.49 3.87
Noc / All 38.82 45.98 40.12 29.40 53.86 34.06 50.67 84.28 57.43 51.98 89.07 59.05
Noc / Est 0.11 0.00 0.10 0.17 0.00 0.16 0.05 0.07 0.05 1.37 29.49 3.87
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 47.78 35.64 46.96 50.04 37.86 49.22 72.09 53.59 70.84 74.32 55.74 73.06
All / Est 0.12 0.00 0.10 0.15 0.00 0.13 0.51 0.14 0.47 1.90 18.62 4.27
Noc / All 47.48 35.64 46.67 40.38 37.86 40.18 66.77 53.59 65.72 69.01 55.74 67.94
Noc / Est 0.12 0.00 0.10 0.15 0.00 0.13 0.51 0.14 0.47 1.90 18.62 4.27
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 47.51 68.40 50.08 51.02 85.81 55.29 67.71 100.00 71.68 70.63 100.00 74.24
All / Est 0.34 0.00 0.34 0.31 0.00 0.31 0.06 0.00 0.06 2.22 100.00 2.90
Noc / All 47.13 68.40 49.76 40.62 82.81 44.70 61.01 100.00 65.54 64.05 100.00 67.53
Noc / Est 0.34 0.00 0.34 0.31 0.00 0.31 0.06 0.00 0.06 2.22 100.00 2.90
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 42.73 61.44 43.05 48.50 61.78 48.73 66.92 85.67 67.24 69.13 87.52 69.45
All / Est 0.12 0.00 0.12 0.47 0.00 0.46 0.16 0.00 0.16 3.78 51.07 4.77
Noc / All 42.44 61.44 42.77 38.31 61.78 38.81 60.52 85.67 61.04 62.79 87.52 63.31
Noc / Est 0.12 0.00 0.12 0.47 0.00 0.46 0.16 0.00 0.16 3.78 51.07 4.77
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 65.66 55.51 64.74 68.78 57.82 67.79 87.10 80.02 86.46 88.70 84.59 88.33
All / Est 0.02 0.00 0.02 0.16 0.00 0.11 0.69 0.00 0.56 8.80 47.33 20.39
Noc / All 65.70 55.51 64.76 61.39 57.82 60.97 83.70 80.02 83.27 85.96 84.59 85.80
Noc / Est 0.02 0.00 0.02 0.16 0.00 0.11 0.69 0.00 0.56 8.80 47.33 20.39
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 55.71 95.67 61.59 64.07 99.58 69.30 84.87 100.00 87.10 86.43 100.00 88.43
All / Est 1.03 0.00 1.03 1.16 0.00 1.16 0.22 0.00 0.22 6.63 0.00 6.63
Noc / All 55.49 95.67 61.45 53.54 99.58 62.06 80.78 100.00 84.24 82.15 100.00 85.45
Noc / Est 1.03 0.00 1.03 1.16 0.00 1.16 0.22 0.00 0.22 6.63 0.00 6.63
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 45.26 70.79 47.92 52.12 87.48 55.80 79.75 88.53 80.66 81.81 91.99 82.87
All / Est 0.52 0.00 0.48 0.61 0.00 0.57 0.96 0.00 0.87 9.86 2.04 9.29
Noc / All 44.83 70.79 47.58 41.20 87.48 47.31 74.21 88.53 76.07 76.39 91.99 78.45
Noc / Est 0.52 0.00 0.48 0.61 0.00 0.57 0.96 0.00 0.87 9.86 2.04 9.29
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 57.64 100.00 77.77 60.07 100.00 79.04 77.87 100.00 88.39 79.44 100.00 89.21
All / Est 0.38 0.00 0.38 0.52 0.00 0.52 0.31 0.00 0.31 3.52 0.00 3.52
Noc / All 57.01 100.00 77.63 46.70 100.00 57.91 70.52 100.00 78.65 72.39 100.00 78.20
Noc / Est 0.38 0.00 0.38 0.52 0.00 0.52 0.31 0.00 0.31 3.52 0.00 3.52
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 53.91 88.03 57.77 55.59 90.75 59.57 76.23 91.08 77.91 77.66 93.37 79.44
All / Est 0.20 0.00 0.19 0.25 0.00 0.24 0.19 0.00 0.18 5.00 8.70 5.19
Noc / All 53.31 88.03 57.30 41.86 90.75 49.05 68.51 91.08 71.77 69.83 93.37 73.29
Noc / Est 0.20 0.00 0.19 0.25 0.00 0.24 0.19 0.00 0.18 5.00 8.70 5.19
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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