Method

Semi Global Matching + SphereFlow [SGM+SF]


Submitted on 29 Jul. 2015 13:37 by
Andreas Geiger (MPI Tübingen)

Running time:45 min
Environment:16 core @ 3.2 Ghz (C/C++)

Method Description:
Note: We used SGM as depth input for this method.
Abstract: We take a new approach to computing
dense scene flow between a pair of consecutive
RGB-D frames. We exploit the availability of
depth data by seeking correspondences with
respect to patches specified not as the pixels
inside square windows, but as the 3D points that
are the inliers of spheres in world space. Our
primary contribution is to show that by reasoning
in terms of such patches under 6 DoF rigid body
motions in 3D, we succeed in obtaining
compelling results at displacements large and
small without relying on either of two
simplifying assumptions that pervade much of the
earlier literature: brightness constancy or local
surface planarity. As a consequence of our
approach, our output is a dense field of 3D rigid
body motions, in contrast
to the 3D translations that are the norm in scene
flow. Reasoning in our manner additionally allows
us to carry out occlusion handling using a 6 DoF
consistency check for the flow computed in both
directions and a patchwise silhouette check to
help reason about alignments in occlusion areas,
and to promote smoothness of the flow fields
using an intuitive local rigidity prior. We carry
out our optimization in two steps, obtaining a
first correspondence field using an adaptation of
PatchMatch, and subsequently using alpha-
expansion to jointly handle occlusions and
perform regularization. We show attractive flow
results on challenging synthetic and real-world
scenes that push the practical limits of the
aforementioned assumptions.
Parameters:
See paper..
Latex Bibtex:
@Article{Hirschmueller2008PAMI,
Title = {Stereo Processing by Semiglobal Matching
and Mutual Information},
Author = {Hirschmüller, Heiko},
Journal = {PAMI},
Year = {2008},
Number = {2},
Pages = {328-341},
Volume = {30}
}

@InProceedings{Hornacek2014CVPR,
Title = {{SphereFlow:} 6
{DoF} Scene Flow from {RGB-D} Pairs},
Author = {Hornacek, Michael
and Fitzgibbon, Andrew and Rother, Carsten},
Booktitle = {CVPR},
Year = {2014}
}

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 5.15 15.29 6.84 14.10 23.13 15.60 20.91 25.50 21.67 23.09 34.46 24.98
All / Est 5.15 15.29 6.84 14.10 23.13 15.60 20.91 25.50 21.67 23.09 34.46 24.98
Noc / All 4.75 14.22 6.31 8.34 18.71 10.20 13.36 21.78 14.89 15.28 29.68 17.86
Noc / Est 4.75 14.22 6.31 8.34 18.71 10.20 13.36 21.78 14.89 15.28 29.68 17.86
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 4.82 5.59 4.93 6.91 14.22 7.91 14.49 72.46 22.44 16.75 73.94 24.60
All / Est 4.82 5.59 4.93 6.91 14.22 7.91 14.49 72.46 22.44 16.75 73.94 24.60
Noc / All 4.73 5.59 4.85 5.37 14.22 6.74 11.55 72.46 20.78 13.33 73.94 22.71
Noc / Est 4.73 5.59 4.85 5.37 14.22 6.74 11.55 72.46 20.78 13.33 73.94 22.71
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 4.06 13.61 5.13 5.16 11.79 5.90 10.92 30.10 13.06 12.76 33.20 15.04
All / Est 4.06 13.61 5.13 5.16 11.79 5.90 10.92 30.10 13.06 12.76 33.20 15.04
Noc / All 3.92 13.61 5.02 4.71 11.79 5.61 9.26 30.10 11.83 10.93 33.20 13.74
Noc / Est 3.92 13.61 5.02 4.71 11.79 5.61 9.26 30.10 11.83 10.93 33.20 13.74
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 5.21 11.10 5.50 10.97 10.84 10.96 17.73 18.23 17.76 21.40 20.70 21.37
All / Est 5.21 11.10 5.50 10.97 10.84 10.96 17.73 18.23 17.76 21.40 20.70 21.37
Noc / All 4.55 11.10 4.87 8.15 10.84 8.31 12.00 18.23 12.36 15.51 20.70 15.81
Noc / Est 4.55 11.10 4.87 8.15 10.84 8.31 12.00 18.23 12.36 15.51 20.70 15.81
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 6.03 25.22 7.81 14.22 94.65 21.65 21.75 100.00 28.98 23.28 100.00 30.37
All / Est 6.03 25.22 7.81 14.22 94.65 21.65 21.75 100.00 28.98 23.28 100.00 30.37
Noc / All 5.54 25.22 7.38 8.13 91.59 14.00 13.20 100.00 20.68 14.25 100.00 20.28
Noc / Est 5.54 25.22 7.38 8.13 91.59 14.00 13.20 100.00 20.68 14.25 100.00 20.28
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 7.41 15.56 8.76 30.01 38.40 31.40 38.46 61.34 42.26 39.74 62.01 43.44
All / Est 7.41 15.56 8.76 30.01 38.40 31.40 38.46 61.34 42.26 39.74 62.01 43.44
Noc / All 6.40 15.56 7.95 23.46 32.66 25.04 31.80 59.97 37.07 32.44 55.92 36.49
Noc / Est 6.40 15.56 7.95 23.46 32.66 25.04 31.80 59.97 37.07 32.44 55.92 36.49
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 15.34 13.91 15.21 20.62 13.61 19.99 20.50 4.38 19.05 28.78 14.50 27.50
All / Est 15.34 13.91 15.21 20.62 13.61 19.99 20.50 4.38 19.05 28.78 14.50 27.50
Noc / All 13.89 13.91 13.89 17.30 13.61 16.91 15.96 4.38 14.77 23.91 14.50 22.91
Noc / Est 13.89 13.91 13.89 17.30 13.61 16.91 15.96 4.38 14.77 23.91 14.50 22.91
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 12.72 11.75 12.62 18.66 14.34 18.21 25.50 0.86 22.90 31.52 14.62 29.74
All / Est 12.72 11.75 12.62 18.66 14.34 18.21 25.50 0.86 22.90 31.52 14.62 29.74
Noc / All 12.42 11.75 12.35 16.05 14.34 15.84 20.91 0.86 18.52 27.17 14.62 25.64
Noc / Est 12.42 11.75 12.35 16.05 14.34 15.84 20.91 0.86 18.52 27.17 14.62 25.64
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 2.19 12.76 4.26 2.14 13.25 4.31 1.55 77.74 16.46 3.72 77.74 18.20
All / Est 2.19 12.76 4.26 2.14 13.25 4.31 1.55 77.74 16.46 3.72 77.74 18.20
Noc / All 2.19 12.76 4.29 2.17 13.74 4.36 1.55 76.99 15.65 3.65 76.99 17.54
Noc / Est 2.19 12.76 4.29 2.17 13.74 4.36 1.55 76.99 15.65 3.65 76.99 17.54
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 1.99 6.37 2.80 1.89 7.19 2.87 2.11 24.27 6.20 4.20 25.04 8.04
All / Est 1.99 6.37 2.80 1.89 7.19 2.87 2.11 24.27 6.20 4.20 25.04 8.04
Noc / All 1.98 6.37 2.79 1.89 7.19 2.87 2.11 24.27 6.20 4.19 25.04 8.05
Noc / Est 1.98 6.37 2.79 1.89 7.19 2.87 2.11 24.27 6.20 4.19 25.04 8.05
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 2.59 5.26 3.27 2.40 5.94 3.30 1.09 61.00 16.40 3.72 62.40 18.71
All / Est 2.59 5.26 3.27 2.40 5.94 3.30 1.09 61.00 16.40 3.72 62.40 18.71
Noc / All 2.58 5.51 3.31 2.41 6.23 3.36 1.09 61.00 16.40 3.66 64.97 18.92
Noc / Est 2.58 5.51 3.31 2.41 6.23 3.36 1.09 61.00 16.40 3.66 64.97 18.92
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 3.38 6.86 4.17 7.23 7.71 7.34 13.08 13.17 13.10 16.27 14.98 15.97
All / Est 3.38 6.86 4.17 7.23 7.71 7.34 13.08 13.17 13.10 16.27 14.98 15.97
Noc / All 3.38 6.86 4.19 6.06 6.84 6.26 8.19 13.17 9.49 11.21 14.10 11.95
Noc / Est 3.38 6.86 4.19 6.06 6.84 6.26 8.19 13.17 9.49 11.21 14.10 11.95
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 2.00 3.05 2.19 4.44 8.76 5.21 10.99 12.75 11.31 11.98 16.45 12.78
All / Est 2.00 3.05 2.19 4.44 8.76 5.21 10.99 12.75 11.31 11.98 16.45 12.78
Noc / All 1.97 3.05 2.16 3.80 9.38 4.86 6.97 12.69 8.12 7.85 14.54 9.13
Noc / Est 1.97 3.05 2.16 3.80 9.38 4.86 6.97 12.69 8.12 7.85 14.54 9.13
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 1.44 3.74 1.60 5.74 4.90 5.68 13.55 5.16 12.98 13.94 6.71 13.46
All / Est 1.44 3.74 1.60 5.74 4.90 5.68 13.55 5.16 12.98 13.94 6.71 13.46
Noc / All 1.41 3.74 1.57 1.90 4.90 2.14 7.03 5.16 6.88 7.05 6.71 7.02
Noc / Est 1.41 3.74 1.57 1.90 4.90 2.14 7.03 5.16 6.88 7.05 6.71 7.02
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 1.78 5.01 2.17 3.76 18.27 5.55 12.76 17.22 13.31 13.32 25.85 14.86
All / Est 1.78 5.01 2.17 3.76 18.27 5.55 12.76 17.22 13.31 13.32 25.85 14.86
Noc / All 1.62 5.01 2.04 1.78 13.31 2.89 5.53 15.99 6.75 5.57 21.25 7.08
Noc / Est 1.62 5.01 2.04 1.78 13.31 2.89 5.53 15.99 6.75 5.57 21.25 7.08
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 1.89 7.14 1.98 4.97 8.38 5.02 13.38 6.97 13.27 14.21 8.43 14.11
All / Est 1.89 7.14 1.98 4.97 8.38 5.02 13.38 6.97 13.27 14.21 8.43 14.11
Noc / All 1.79 7.14 1.88 2.25 8.38 2.38 6.38 6.97 6.39 6.54 8.43 6.58
Noc / Est 1.79 7.14 1.88 2.25 8.38 2.38 6.38 6.97 6.39 6.54 8.43 6.58
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 5.79 5.66 5.78 21.32 8.65 20.17 28.59 9.28 26.84 29.94 12.55 28.36
All / Est 5.79 5.66 5.78 21.32 8.65 20.17 28.59 9.28 26.84 29.94 12.55 28.36
Noc / All 5.81 5.66 5.80 12.00 8.65 11.61 15.85 9.28 15.09 17.83 12.55 17.20
Noc / Est 5.81 5.66 5.80 12.00 8.65 11.61 15.85 9.28 15.09 17.83 12.55 17.20
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 7.07 7.85 7.19 24.58 16.88 23.45 32.71 35.81 33.17 34.12 40.68 35.08
All / Est 7.07 7.85 7.19 24.58 16.88 23.45 32.71 35.81 33.17 34.12 40.68 35.08
Noc / All 6.48 7.85 6.68 10.75 16.88 11.88 19.55 35.81 22.48 20.78 40.68 24.46
Noc / Est 6.48 7.85 6.68 10.75 16.88 11.88 19.55 35.81 22.48 20.78 40.68 24.46
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 2.29 3.10 2.37 12.68 8.60 12.25 21.36 19.31 21.14 21.95 20.60 21.81
All / Est 2.29 3.10 2.37 12.68 8.60 12.25 21.36 19.31 21.14 21.95 20.60 21.81
Noc / All 2.04 3.10 2.15 5.11 8.60 5.57 10.80 19.31 11.90 11.09 20.60 12.35
Noc / Est 2.04 3.10 2.15 5.11 8.60 5.57 10.80 19.31 11.90 11.09 20.60 12.35
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 9.90 14.81 12.23 32.97 86.66 58.48 37.44 92.78 63.73 38.72 96.55 66.19
All / Est 9.90 14.81 12.23 32.97 86.66 58.48 37.44 92.78 63.73 38.72 96.55 66.19
Noc / All 9.65 14.81 12.13 17.08 58.99 25.90 21.29 77.77 36.87 22.40 86.44 35.87
Noc / Est 9.65 14.81 12.13 17.08 58.99 25.90 21.29 77.77 36.87 22.40 86.44 35.87
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 1.97 5.60 2.38 14.13 8.39 13.48 22.13 17.30 21.58 22.59 19.65 22.25
All / Est 1.97 5.60 2.38 14.13 8.39 13.48 22.13 17.30 21.58 22.59 19.65 22.25
Noc / All 1.95 5.60 2.37 4.72 8.39 5.26 9.42 17.30 10.56 9.48 19.65 10.97
Noc / Est 1.95 5.60 2.37 4.72 8.39 5.26 9.42 17.30 10.56 9.48 19.65 10.97
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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