Method

Piecewise Rigid Scene Flow [PR-Sceneflow]
https://github.com/vogechri/PRSM

Submitted on 29 Jul. 2015 11:32 by
Andreas Geiger (MPI Tübingen)

Running time:150 s
Environment:4 core @ 3.0 Ghz (Matlab + C/C++)

Method Description:
Estimating dense 3D scene flow from stereo sequences remains a challenging task, despite much progress in both classical disparity and 2D optical flow estimation. To overcome the limitations of existing techniques, we introduce a novel model that represents the dynamic 3D scene by a collection of planar, rigidly moving, local segments. Scene flow estimation then amounts to jointly estimating the pixel-to-segment assignment, and the 3D position, normal vector, and rigid motion parameters of a plane for each segment. The proposed energy combines an occlusion-sensitive data term with appropriate shape, motion, and segmentation regularizers. Optimization proceeds in two stages: Starting from an initial superpixelization, we estimate the shape and
motion parameters of all segments by assigning a proposal from a set of moving planes. Then the pixel-to-segment assignment is updated, while holding the shape and motion parameters of the moving planes fixed. We demonstrate the benefits of our model on different real-world image sets,
including the challenging KITTI benchmark. We achieve leading performance levels, exceeding competing 3D scene flow methods, and even yielding better 2D motion estimates than all tested dedicated optical flow techniques.
Parameters:
See paper.
Latex Bibtex:
@InProceedings{Vogel2013ICCV,
Title = {Piecewise Rigid Scene Flow},
Author = {Vogel, C. and Schindler, K. and Roth, S.},
Booktitle = {ICCV},
Year = {2013}
}

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 4.74 13.74 6.24 11.14 20.47 12.69 11.73 27.73 14.39 13.49 33.72 16.85
All / Est 4.74 13.74 6.24 11.14 20.47 12.69 11.73 27.73 14.39 13.49 33.72 16.85
Noc / All 4.41 13.09 5.84 6.35 16.12 8.10 6.94 23.64 9.97 8.35 28.45 11.95
Noc / Est 4.41 13.09 5.84 6.35 16.12 8.10 6.94 23.64 9.97 8.35 28.45 11.95
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 4.47 3.34 4.31 4.75 3.40 4.56 3.03 76.66 13.13 6.03 76.66 15.73
All / Est 4.47 3.34 4.31 4.75 3.40 4.56 3.03 76.66 13.13 6.03 76.66 15.73
Noc / All 4.45 3.34 4.30 5.03 3.40 4.78 3.11 76.66 14.26 6.51 76.66 17.37
Noc / Est 4.45 3.34 4.30 5.03 3.40 4.78 3.11 76.66 14.26 6.51 76.66 17.37
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 4.34 11.68 5.16 5.20 18.86 6.73 3.67 28.30 6.42 5.74 36.54 9.18
All / Est 4.34 11.68 5.16 5.20 18.86 6.73 3.67 28.30 6.42 5.74 36.54 9.18
Noc / All 4.05 11.68 4.91 5.12 18.86 6.85 3.76 28.30 6.79 5.65 36.54 9.55
Noc / Est 4.05 11.68 4.91 5.12 18.86 6.85 3.76 28.30 6.79 5.65 36.54 9.55
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 4.66 2.62 4.56 5.28 3.94 5.22 6.20 5.24 6.15 7.31 5.99 7.24
All / Est 4.66 2.62 4.56 5.28 3.94 5.22 6.20 5.24 6.15 7.31 5.99 7.24
Noc / All 4.36 2.62 4.27 4.55 3.94 4.52 4.24 5.24 4.29 5.53 5.99 5.56
Noc / Est 4.36 2.62 4.27 4.55 3.94 4.52 4.24 5.24 4.29 5.53 5.99 5.56
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 7.48 15.74 8.25 14.03 89.17 20.98 14.97 96.35 22.49 16.20 96.35 23.60
All / Est 7.48 15.74 8.25 14.03 89.17 20.98 14.97 96.35 22.49 16.20 96.35 23.60
Noc / All 6.97 15.74 7.79 6.61 88.37 12.36 7.02 95.13 14.61 7.93 93.82 13.97
Noc / Est 6.97 15.74 7.79 6.61 88.37 12.36 7.02 95.13 14.61 7.93 93.82 13.97
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 6.96 10.11 7.49 11.59 19.38 12.88 12.58 69.17 21.96 13.09 69.38 22.42
All / Est 6.96 10.11 7.49 11.59 19.38 12.88 12.58 69.17 21.96 13.09 69.38 22.42
Noc / All 5.69 10.11 6.43 6.79 18.05 8.73 7.64 69.53 19.21 7.92 74.26 19.36
Noc / Est 5.69 10.11 6.43 6.79 18.05 8.73 7.64 69.53 19.21 7.92 74.26 19.36
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 9.98 3.97 9.44 11.01 3.78 10.36 7.89 0.00 7.18 11.77 3.97 11.07
All / Est 9.98 3.97 9.44 11.01 3.78 10.36 7.89 0.00 7.18 11.77 3.97 11.07
Noc / All 8.25 3.97 7.85 9.35 3.78 8.76 6.59 0.00 5.91 10.23 3.97 9.56
Noc / Est 8.25 3.97 7.85 9.35 3.78 8.76 6.59 0.00 5.91 10.23 3.97 9.56
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 10.71 3.75 9.98 11.60 3.69 10.76 8.98 0.56 8.09 12.87 4.07 11.94
All / Est 10.71 3.75 9.98 11.60 3.69 10.76 8.98 0.56 8.09 12.87 4.07 11.94
Noc / All 10.90 3.75 10.13 9.98 3.69 9.21 6.89 0.56 6.13 10.88 4.07 10.05
Noc / Est 10.90 3.75 10.13 9.98 3.69 9.21 6.89 0.56 6.13 10.88 4.07 10.05
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 3.98 18.93 6.91 3.97 18.88 6.89 0.77 100.00 20.19 4.29 100.00 23.02
All / Est 3.98 18.93 6.91 3.97 18.88 6.89 0.77 100.00 20.19 4.29 100.00 23.02
Noc / All 4.05 18.93 7.00 4.04 19.09 6.89 0.77 100.00 19.33 4.36 100.00 22.48
Noc / Est 4.05 18.93 7.00 4.04 19.09 6.89 0.77 100.00 19.33 4.36 100.00 22.48
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 3.94 4.67 4.08 4.12 5.08 4.30 0.70 100.00 19.03 4.31 100.00 21.98
All / Est 3.94 4.67 4.08 4.12 5.08 4.30 0.70 100.00 19.03 4.31 100.00 21.98
Noc / All 3.94 4.67 4.07 4.10 5.08 4.28 0.70 100.00 19.03 4.28 100.00 21.97
Noc / Est 3.94 4.67 4.07 4.10 5.08 4.28 0.70 100.00 19.03 4.28 100.00 21.97
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 5.14 11.72 6.82 5.09 11.17 6.65 0.43 100.00 25.87 5.46 100.00 29.61
All / Est 5.14 11.72 6.82 5.09 11.17 6.65 0.43 100.00 25.87 5.46 100.00 29.61
Noc / All 5.21 12.05 6.91 5.16 11.50 6.74 0.43 100.00 25.87 5.53 100.00 29.05
Noc / Est 5.21 12.05 6.91 5.16 11.50 6.74 0.43 100.00 25.87 5.53 100.00 29.05
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 3.07 4.23 3.34 4.94 4.47 4.83 3.23 12.48 5.34 5.81 12.58 7.35
All / Est 3.07 4.23 3.34 4.94 4.47 4.83 3.23 12.48 5.34 5.81 12.58 7.35
Noc / All 3.11 4.23 3.37 4.97 4.70 4.90 3.62 12.48 5.92 5.85 8.22 6.45
Noc / Est 3.11 4.23 3.37 4.97 4.70 4.90 3.62 12.48 5.92 5.85 8.22 6.45
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 2.91 4.33 3.16 3.41 7.40 4.13 4.72 9.58 5.60 5.24 9.89 6.07
All / Est 2.91 4.33 3.16 3.41 7.40 4.13 4.72 9.58 5.60 5.24 9.89 6.07
Noc / All 2.93 4.33 3.19 3.80 4.89 4.01 5.14 9.48 6.01 5.57 7.28 5.90
Noc / Est 2.93 4.33 3.19 3.80 4.89 4.01 5.14 9.48 6.01 5.57 7.28 5.90
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 1.49 3.07 1.60 1.77 3.07 1.86 3.55 3.15 3.53 3.71 3.15 3.67
All / Est 1.49 3.07 1.60 1.77 3.07 1.86 3.55 3.15 3.53 3.71 3.15 3.67
Noc / All 1.51 3.07 1.61 1.48 3.07 1.61 2.91 3.15 2.93 3.03 3.15 3.04
Noc / Est 1.51 3.07 1.61 1.48 3.07 1.61 2.91 3.15 2.93 3.03 3.15 3.04
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 2.31 5.84 2.74 3.35 9.88 4.15 4.45 23.00 6.73 4.67 23.74 7.01
All / Est 2.31 5.84 2.74 3.35 9.88 4.15 4.45 23.00 6.73 4.67 23.74 7.01
Noc / All 2.00 5.84 2.48 1.62 5.97 2.04 2.56 7.61 3.15 2.13 8.11 2.71
Noc / Est 2.00 5.84 2.48 1.62 5.97 2.04 2.56 7.61 3.15 2.13 8.11 2.71
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 1.67 4.22 1.71 5.35 4.22 5.33 6.97 4.44 6.92 7.29 4.44 7.24
All / Est 1.67 4.22 1.71 5.35 4.22 5.33 6.97 4.44 6.92 7.29 4.44 7.24
Noc / All 1.59 4.22 1.64 1.53 4.22 1.59 3.65 4.44 3.67 3.00 4.44 3.03
Noc / Est 1.59 4.22 1.64 1.53 4.22 1.59 3.65 4.44 3.67 3.00 4.44 3.03
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 7.98 3.53 7.58 14.03 6.24 13.33 18.14 35.22 19.69 18.88 35.36 20.37
All / Est 7.98 3.53 7.58 14.03 6.24 13.33 18.14 35.22 19.69 18.88 35.36 20.37
Noc / All 7.99 3.53 7.58 7.66 6.24 7.49 10.78 35.22 13.59 10.02 35.36 13.00
Noc / Est 7.99 3.53 7.58 7.66 6.24 7.49 10.78 35.22 13.59 10.02 35.36 13.00
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 8.69 12.76 9.29 16.19 33.78 18.78 18.46 100.00 30.46 19.03 100.00 30.95
All / Est 8.69 12.76 9.29 16.19 33.78 18.78 18.46 100.00 30.46 19.03 100.00 30.95
Noc / All 8.12 12.76 8.81 8.35 33.78 13.05 11.78 100.00 27.64 11.91 100.00 28.21
Noc / Est 8.12 12.76 8.81 8.35 33.78 13.05 11.78 100.00 27.64 11.91 100.00 28.21
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 2.68 3.78 2.79 13.95 6.97 13.22 17.42 20.79 17.77 18.02 21.36 18.37
All / Est 2.68 3.78 2.79 13.95 6.97 13.22 17.42 20.79 17.77 18.02 21.36 18.37
Noc / All 2.55 3.78 2.68 4.30 6.97 4.65 8.63 20.79 10.20 7.79 21.36 9.59
Noc / Est 2.55 3.78 2.68 4.30 6.97 4.65 8.63 20.79 10.20 7.79 21.36 9.59
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 12.49 27.44 19.59 16.72 100.00 56.29 19.99 100.00 58.01 21.02 100.00 58.54
All / Est 12.49 27.44 19.59 16.72 100.00 56.29 19.99 100.00 58.01 21.02 100.00 58.54
Noc / All 12.07 27.44 19.44 11.35 99.99 29.99 14.70 100.00 38.23 14.98 100.00 32.86
Noc / Est 12.07 27.44 19.44 11.35 99.99 29.99 14.70 100.00 38.23 14.98 100.00 32.86
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 2.34 4.73 2.61 4.75 8.14 5.13 6.34 24.74 8.42 6.58 27.04 8.89
All / Est 2.34 4.73 2.61 4.75 8.14 5.13 6.34 24.74 8.42 6.58 27.04 8.89
Noc / All 2.34 4.73 2.62 3.82 8.14 4.46 4.62 24.74 7.54 4.86 27.04 8.13
Noc / Est 2.34 4.73 2.62 3.82 8.14 4.46 4.62 24.74 7.54 4.86 27.04 8.13
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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