Method

Self-Supervised Monocular Scene Flow Estimation [Self-Mono-SF]
https://github.com/visinf/self-mono-sf

Submitted on 3 Mar. 2020 13:33 by
Junhwa Hur (Google)

Running time:0.09 s
Environment:NVIDIA GTX 1080 Ti

Method Description:
Parameters:
Latex Bibtex:
@inproceedings{Hur2020CVPR,
Author = {Junhwa Hur and Stefan Roth},
Booktitle = {CVPR},
Title = {Self-Supervised Monocular Scene
Flow Estimation},
Year = {2020}}

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 31.22 48.04 34.02 34.89 43.59 36.34 23.26 24.93 23.54 46.68 63.82 49.54
All / Est 31.22 48.04 34.02 34.89 43.59 36.34 23.26 24.93 23.54 46.68 63.82 49.54
Noc / All 30.81 47.43 33.55 31.00 40.13 32.64 15.98 20.85 16.86 40.65 60.78 44.25
Noc / Est 30.81 47.43 33.55 31.00 40.13 32.64 15.98 20.85 16.86 40.65 60.78 44.25
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 12.26 14.34 12.55 15.04 14.12 14.91 9.67 63.74 17.09 21.46 68.60 27.93
All / Est 12.26 14.34 12.55 15.04 14.12 14.91 9.67 63.74 17.09 21.46 68.60 27.93
Noc / All 12.36 14.34 12.63 16.44 14.12 16.08 6.87 63.74 15.49 19.34 68.60 26.96
Noc / Est 12.36 14.34 12.63 16.44 14.12 16.08 6.87 63.74 15.49 19.34 68.60 26.96
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 19.55 62.49 24.35 20.87 52.20 24.37 9.58 48.67 13.95 23.86 71.68 29.20
All / Est 19.55 62.49 24.35 20.87 52.20 24.37 9.58 48.67 13.95 23.86 71.68 29.20
Noc / All 19.60 62.49 24.46 21.13 52.20 25.05 8.25 48.67 13.24 23.07 71.68 29.20
Noc / Est 19.60 62.49 24.46 21.13 52.20 25.05 8.25 48.67 13.24 23.07 71.68 29.20
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 30.52 11.54 29.60 33.65 8.56 32.43 33.46 23.45 32.97 46.47 31.93 45.77
All / Est 30.52 11.54 29.60 33.65 8.56 32.43 33.46 23.45 32.97 46.47 31.93 45.77
Noc / All 30.05 11.54 29.14 27.99 8.56 26.83 21.22 23.45 21.35 35.91 31.93 35.68
Noc / Est 30.05 11.54 29.14 27.99 8.56 26.83 21.22 23.45 21.35 35.91 31.93 35.68
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 31.51 83.14 36.28 50.24 46.26 49.87 47.95 91.49 51.98 62.55 96.82 65.72
All / Est 31.51 83.14 36.28 50.24 46.26 49.87 47.95 91.49 51.98 62.55 96.82 65.72
Noc / All 31.20 83.14 36.07 47.51 26.45 46.03 37.86 88.64 42.24 54.68 94.62 57.49
Noc / Est 31.20 83.14 36.07 47.51 26.45 46.03 37.86 88.64 42.24 54.68 94.62 57.49
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 23.19 65.36 30.19 16.87 19.23 17.27 20.75 51.76 25.89 32.88 78.71 40.48
All / Est 23.19 65.36 30.19 16.87 19.23 17.27 20.75 51.76 25.89 32.88 78.71 40.48
Noc / All 22.01 65.36 29.32 15.73 13.68 15.38 18.45 51.17 24.57 28.17 77.87 36.74
Noc / Est 22.01 65.36 29.32 15.73 13.68 15.38 18.45 51.17 24.57 28.17 77.87 36.74
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 17.18 43.41 19.53 23.26 33.84 24.21 10.08 0.00 9.17 24.12 43.41 25.85
All / Est 17.18 43.41 19.53 23.26 33.84 24.21 10.08 0.00 9.17 24.12 43.41 25.85
Noc / All 15.38 43.41 17.96 16.52 33.84 18.36 6.98 0.00 6.27 17.04 43.41 19.83
Noc / Est 15.38 43.41 17.96 16.52 33.84 18.36 6.98 0.00 6.27 17.04 43.41 19.83
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 10.43 29.91 12.48 12.72 28.28 14.36 19.38 1.07 17.45 23.74 30.55 24.45
All / Est 10.43 29.91 12.48 12.72 28.28 14.36 19.38 1.07 17.45 23.74 30.55 24.45
Noc / All 10.45 29.91 12.55 10.92 28.28 13.03 15.37 1.07 13.67 20.41 30.55 21.65
Noc / Est 10.45 29.91 12.55 10.92 28.28 13.03 15.37 1.07 13.67 20.41 30.55 21.65
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 37.38 43.29 38.53 39.35 45.28 40.51 3.41 100.00 22.31 40.77 100.00 52.36
All / Est 37.38 43.29 38.53 39.35 45.28 40.51 3.41 100.00 22.31 40.77 100.00 52.36
Noc / All 36.35 43.29 37.73 38.34 47.65 40.11 3.41 100.00 21.47 39.78 100.00 51.19
Noc / Est 36.35 43.29 37.73 38.34 47.65 40.11 3.41 100.00 21.47 39.78 100.00 51.19
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 25.54 20.89 24.68 27.19 19.63 25.79 5.00 87.06 20.15 30.09 89.80 41.11
All / Est 25.54 20.89 24.68 27.19 19.63 25.79 5.00 87.06 20.15 30.09 89.80 41.11
Noc / All 25.49 20.89 24.64 27.14 19.63 25.75 5.00 87.06 20.15 30.04 89.80 41.08
Noc / Est 25.49 20.89 24.64 27.14 19.63 25.75 5.00 87.06 20.15 30.04 89.80 41.08
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 31.66 34.55 32.40 31.93 29.50 31.31 6.25 81.49 25.47 37.34 90.95 51.03
All / Est 31.66 34.55 32.40 31.93 29.50 31.31 6.25 81.49 25.47 37.34 90.95 51.03
Noc / All 30.82 33.54 31.50 31.10 29.02 30.58 6.25 81.49 25.47 36.56 90.50 49.99
Noc / Est 30.82 33.54 31.50 31.10 29.02 30.58 6.25 81.49 25.47 36.56 90.50 49.99
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 28.78 63.01 36.59 20.15 12.31 18.36 13.51 20.49 15.10 35.33 75.06 44.41
All / Est 28.78 63.01 36.59 20.15 12.31 18.36 13.51 20.49 15.10 35.33 75.06 44.41
Noc / All 28.21 63.01 36.24 20.97 11.88 18.67 9.68 20.49 12.49 31.17 73.78 41.98
Noc / Est 28.21 63.01 36.24 20.97 11.88 18.67 9.68 20.49 12.49 31.17 73.78 41.98
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 16.80 94.36 30.73 15.82 43.72 20.83 9.55 8.99 9.45 19.86 97.07 33.72
All / Est 16.80 94.36 30.73 15.82 43.72 20.83 9.55 8.99 9.45 19.86 97.07 33.72
Noc / All 16.03 94.36 30.20 15.68 46.95 21.64 8.69 9.00 8.75 18.50 96.82 33.43
Noc / Est 16.03 94.36 30.20 15.68 46.95 21.64 8.69 9.00 8.75 18.50 96.82 33.43
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 19.86 94.15 24.87 26.14 89.06 30.38 10.18 5.27 9.85 30.82 98.60 35.39
All / Est 19.86 94.15 24.87 26.14 89.06 30.38 10.18 5.27 9.85 30.82 98.60 35.39
Noc / All 19.01 94.15 24.12 25.49 89.06 30.63 6.42 5.27 6.33 27.03 98.60 32.82
Noc / Est 19.01 94.15 24.12 25.49 89.06 30.63 6.42 5.27 6.33 27.03 98.60 32.82
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 44.82 98.81 51.45 47.72 88.98 52.79 8.34 35.22 11.64 50.29 100.00 56.39
All / Est 44.82 98.81 51.45 47.72 88.98 52.79 8.34 35.22 11.64 50.29 100.00 56.39
Noc / All 44.34 98.81 51.09 46.16 87.71 50.18 4.81 17.97 6.34 47.07 100.00 52.19
Noc / Est 44.34 98.81 51.09 46.16 87.71 50.18 4.81 17.97 6.34 47.07 100.00 52.19
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 21.36 95.45 22.64 25.45 95.39 26.66 7.26 12.87 7.35 31.75 100.00 32.93
All / Est 21.36 95.45 22.64 25.45 95.39 26.66 7.26 12.87 7.35 31.75 100.00 32.93
Noc / All 20.70 95.45 22.01 21.77 95.39 23.32 3.92 12.87 4.10 25.97 100.00 27.53
Noc / Est 20.70 95.45 22.01 21.77 95.39 23.32 3.92 12.87 4.10 25.97 100.00 27.53
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 36.85 14.91 34.87 24.84 6.85 23.21 35.80 9.13 33.38 53.76 23.75 51.04
All / Est 36.85 14.91 34.87 24.84 6.85 23.21 35.80 9.13 33.38 53.76 23.75 51.04
Noc / All 35.96 14.91 34.01 20.77 6.85 19.13 22.58 9.13 21.03 42.36 23.75 40.17
Noc / Est 35.96 14.91 34.01 20.77 6.85 19.13 22.58 9.13 21.03 42.36 23.75 40.17
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 35.94 69.86 40.93 31.90 53.04 35.01 34.87 74.74 40.74 52.72 100.00 59.68
All / Est 35.94 69.86 40.93 31.90 53.04 35.01 34.87 74.74 40.74 52.72 100.00 59.68
Noc / All 35.58 69.86 40.67 24.54 53.04 29.81 19.92 74.74 29.78 39.81 100.00 50.95
Noc / Est 35.58 69.86 40.67 24.54 53.04 29.81 19.92 74.74 29.78 39.81 100.00 50.95
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 42.97 82.78 47.12 34.12 4.78 31.06 34.06 26.71 33.30 54.86 87.93 58.31
All / Est 42.97 82.78 47.12 34.12 4.78 31.06 34.06 26.71 33.30 54.86 87.93 58.31
Noc / All 43.18 82.78 47.37 34.02 4.78 30.16 24.87 26.71 25.11 45.20 87.93 50.84
Noc / Est 43.18 82.78 47.37 34.02 4.78 30.16 24.87 26.71 25.11 45.20 87.93 50.84
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 57.60 96.87 76.26 48.14 94.42 70.13 30.67 100.00 63.61 67.63 100.00 83.01
All / Est 57.60 96.87 76.26 48.14 94.42 70.13 30.67 100.00 63.61 67.63 100.00 83.01
Noc / All 58.08 96.87 76.68 47.97 74.17 53.48 16.72 100.00 39.69 57.18 100.00 66.19
Noc / Est 58.08 96.87 76.68 47.97 74.17 53.48 16.72 100.00 39.69 57.18 100.00 66.19
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 19.02 81.54 26.10 11.97 11.63 11.93 23.03 51.80 26.29 33.50 89.21 39.81
All / Est 19.02 81.54 26.10 11.97 11.63 11.93 23.03 51.80 26.29 33.50 89.21 39.81
Noc / All 17.98 81.54 25.28 10.12 11.63 10.34 11.40 51.80 17.25 17.08 89.21 27.70
Noc / Est 17.98 81.54 25.28 10.12 11.63 10.34 11.40 51.80 17.25 17.08 89.21 27.70
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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