Method

Growing Correspondence Scene Flow [st] [GCSF]


Submitted on 21 Feb. 2012 18:30 by
Andreas Geiger (MPI Tübingen)

Running time:2.4 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
A simple seed growing algorithm for estimating
scene flow in a stereo setup. Two calibrated and
synchronized cameras observe a scene and output a
sequence of image pairs. The algorithm
simultaneously computes a disparity map between
the image pairs and optical flow maps between
consecutive images. This, together
with calibration data, is an equivalent
representation of the 3D scene flow, i.e. a 3D
velocity vector is associated with each
reconstructed point. The proposed method starts
from correspondence seeds and propagates these
correspondences to their neighborhood. It is
accurate for complex scenes with large motions and
produces temporallycoherent stereo disparity and
optical flow results. The algorithm is fast due to
inherent search space reduction.
Parameters:
The results have been provided by the authors using
the default parameter settings.
Latex Bibtex:
@InProceedings{Cech11,
author = {Cech, Jan and Sanchez-Riera,
Jordi and Horaud, Radu P.},
title = {Scene Flow Estimation by Growing
Correspondence Seeds},
booktitle = {CVPR},
year = {2011}
}

Detailed Results

This page provides detailed results for the method(s) selected. For each of the first 20 test images, the number of erroneous pixels at all thresholds is depicted in the table. Underneath, the left input image, the disparity / end-point error map and the estimated (and interpolated) disparity / optical flow map are shown. The error map scales linearly between 0 (black) and >=5 (white) pixels error. Red denotes all occluded pixels, falling outside the image boundaries. The false color map is scaled to the largest ground truth disparity / flow value.

Test Set Average

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 39.42 % 47.17 % 7.0 px 15.3 px
3 pixels 33.17 % 41.71 % 7.0 px 15.3 px
4 pixels 29.23 % 38.23 % 7.0 px 15.3 px
5 pixels 26.34 % 35.67 % 7.0 px 15.3 px
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Reflective Regions

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Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 36.26 % 45.69 % 5.9 px 14.1 px
3 pixels 30.29 % 40.53 % 5.9 px 14.1 px
4 pixels 25.60 % 36.40 % 5.9 px 14.1 px
5 pixels 22.25 % 33.39 % 5.9 px 14.1 px
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Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 27.51 % 37.52 % 3.4 px 8.2 px
3 pixels 21.36 % 32.08 % 3.4 px 8.2 px
4 pixels 17.46 % 28.49 % 3.4 px 8.2 px
5 pixels 14.71 % 25.96 % 3.4 px 8.2 px
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Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 44.31 % 53.20 % 7.5 px 16.5 px
3 pixels 39.05 % 48.75 % 7.5 px 16.5 px
4 pixels 35.42 % 45.66 % 7.5 px 16.5 px
5 pixels 32.69 % 43.34 % 7.5 px 16.5 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 52.96 % 60.62 % 8.5 px 15.0 px
3 pixels 44.34 % 53.17 % 8.5 px 15.0 px
4 pixels 39.11 % 48.47 % 8.5 px 15.0 px
5 pixels 35.23 % 44.86 % 8.5 px 15.0 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 37.87 % 43.20 % 3.9 px 6.1 px
3 pixels 31.26 % 37.14 % 3.9 px 6.1 px
4 pixels 26.64 % 32.84 % 3.9 px 6.1 px
5 pixels 23.12 % 29.55 % 3.9 px 6.1 px
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Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 36.36 % 46.39 % 6.0 px 17.0 px
3 pixels 28.98 % 40.10 % 6.0 px 17.0 px
4 pixels 25.04 % 36.72 % 6.0 px 17.0 px
5 pixels 22.56 % 34.57 % 6.0 px 17.0 px
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Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 37.24 % 45.57 % 6.2 px 12.0 px
3 pixels 30.45 % 39.61 % 6.2 px 12.0 px
4 pixels 26.29 % 35.90 % 6.2 px 12.0 px
5 pixels 23.86 % 33.68 % 6.2 px 12.0 px
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Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 57.69 % 64.71 % 16.0 px 26.4 px
3 pixels 50.45 % 58.68 % 16.0 px 26.4 px
4 pixels 45.87 % 54.86 % 16.0 px 26.4 px
5 pixels 43.02 % 52.47 % 16.0 px 26.4 px
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Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 32.72 % 44.78 % 8.5 px 23.3 px
3 pixels 26.38 % 39.53 % 8.5 px 23.3 px
4 pixels 22.63 % 36.42 % 8.5 px 23.3 px
5 pixels 19.88 % 34.11 % 8.5 px 23.3 px
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Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 60.47 % 66.60 % 8.7 px 16.0 px
3 pixels 52.58 % 59.92 % 8.7 px 16.0 px
4 pixels 46.40 % 54.57 % 8.7 px 16.0 px
5 pixels 41.94 % 50.60 % 8.7 px 16.0 px
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Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 45.07 % 54.76 % 10.2 px 29.0 px
3 pixels 38.33 % 49.21 % 10.2 px 29.0 px
4 pixels 33.87 % 45.52 % 10.2 px 29.0 px
5 pixels 30.62 % 42.84 % 10.2 px 29.0 px
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Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 65.25 % 70.67 % 11.9 px 20.5 px
3 pixels 57.92 % 64.49 % 11.9 px 20.5 px
4 pixels 51.82 % 59.33 % 11.9 px 20.5 px
5 pixels 47.27 % 55.50 % 11.9 px 20.5 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 38.53 % 48.30 % 6.7 px 19.7 px
3 pixels 31.06 % 42.00 % 6.7 px 19.7 px
4 pixels 26.48 % 38.11 % 6.7 px 19.7 px
5 pixels 23.37 % 35.45 % 6.7 px 19.7 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 41.46 % 48.55 % 7.2 px 13.9 px
3 pixels 35.80 % 43.57 % 7.2 px 13.9 px
4 pixels 31.82 % 40.07 % 7.2 px 13.9 px
5 pixels 28.90 % 37.51 % 7.2 px 13.9 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 56.98 % 64.30 % 17.4 px 28.5 px
3 pixels 53.31 % 61.25 % 17.4 px 28.5 px
4 pixels 50.16 % 58.64 % 17.4 px 28.5 px
5 pixels 47.51 % 56.43 % 17.4 px 28.5 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 56.09 % 63.68 % 8.1 px 22.4 px
3 pixels 48.14 % 57.05 % 8.1 px 22.4 px
4 pixels 42.89 % 52.67 % 8.1 px 22.4 px
5 pixels 38.63 % 49.05 % 8.1 px 22.4 px
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Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.08 % 25.35 % 2.5 px 9.7 px
3 pixels 12.14 % 20.89 % 2.5 px 9.7 px
4 pixels 7.98 % 17.11 % 2.5 px 9.7 px
5 pixels 5.66 % 14.99 % 2.5 px 9.7 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 46.77 % 54.92 % 9.4 px 20.1 px
3 pixels 40.51 % 49.51 % 9.4 px 20.1 px
4 pixels 36.82 % 46.31 % 9.4 px 20.1 px
5 pixels 34.15 % 43.97 % 9.4 px 20.1 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 20.64 % 28.72 % 2.0 px 7.2 px
3 pixels 13.58 % 22.34 % 2.0 px 7.2 px
4 pixels 10.29 % 19.33 % 2.0 px 7.2 px
5 pixels 8.12 % 17.30 % 2.0 px 7.2 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 33.65 % 41.53 % 4.0 px 8.9 px
3 pixels 26.92 % 35.57 % 4.0 px 8.9 px
4 pixels 22.79 % 31.87 % 4.0 px 8.9 px
5 pixels 19.60 % 28.81 % 4.0 px 8.9 px
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