Method

Instance Scene Flow [ISF]


Submitted on 17 Mar. 2017 23:14 by
aseem behl (Max Planck Institute for Intelligent Systems)

Running time:10 min
Environment:1 core @ 3 Ghz (C/C++)

Method Description:
Existing methods for 3D scene flow estimation often
fail in the presence of large displacement or local
ambiguities, e.g., at texture-less or reflective
surfaces. However, these challenges are omnipresent
in dynamic road scenes, which is the focus of this
work. Our main contribution is to overcome these 3D
motion estimation problems by exploiting
recognition. In particular, we investigate the
importance of recognition granularity, from coarse
2D bounding box estimates over 2D instance
segmentations to fine-grained 3D object part
predictions. We compute these cues using CNNs
trained on a newly annotated dataset of stereo
images and integrate them into a CRF-based model
for robust 3D scene flow estimation - an approach
we term Instance Scene Flow. We analyze the
importance of each recognition cue in an ablation
study and observe that the instance segmentation
cue is by far strongest, in our setting. We
demonstrate the effectiveness of our method on the
challenging KITTI 2015 scene flow benchmark where
we achieve state-of-the-art performance at the time
of submission.
Parameters:
Latex Bibtex:
@INPROCEEDINGS{Behl2017ICCV,
author = {Aseem Behl and Omid Hosseini Jafari and
Siva Karthik Mustikovela and Hassan Abu Alhaija and
Carsten Rother and Andreas Geiger},
title = {Bounding Boxes, Segmentations and Object
Coordinates: How Important is Recognition for 3D
Scene Flow Estimation in Autonomous Driving
Scenarios?},
booktitle = {International Conference on Computer
Vision (ICCV)},
year = {2017}
}

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 4.12 6.17 4.46 4.88 11.34 5.95 5.40 10.29 6.22 6.58 15.63 8.08
All / Est 4.12 6.17 4.46 4.53 11.33 5.66 5.40 10.29 6.22 6.58 15.63 8.08
Noc / All 3.74 5.46 4.02 4.06 9.04 4.95 4.21 6.83 4.69 5.31 11.65 6.45
Noc / Est 3.74 5.46 4.02 3.74 9.03 4.69 4.21 6.83 4.69 5.31 11.65 6.45
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 3.32 2.40 3.19 3.70 2.79 3.58 4.29 12.18 5.37 5.49 12.21 6.41
All / Est 3.32 2.40 3.19 3.70 2.79 3.58 4.29 12.18 5.37 5.49 12.21 6.41
Noc / All 3.29 2.40 3.17 3.77 2.79 3.62 4.43 12.18 5.61 5.79 12.21 6.78
Noc / Est 3.29 2.40 3.17 3.77 2.79 3.62 4.43 12.18 5.61 5.79 12.21 6.78
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 3.93 14.29 5.09 4.13 14.34 5.27 3.31 15.67 4.69 4.52 16.18 5.82
All / Est 3.93 14.29 5.09 4.13 14.34 5.27 3.31 15.67 4.69 4.52 16.18 5.82
Noc / All 3.74 14.29 4.94 3.90 14.34 5.22 3.28 15.67 4.81 4.23 16.18 5.74
Noc / Est 3.74 14.29 4.94 3.90 14.34 5.22 3.28 15.67 4.81 4.23 16.18 5.74
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 4.15 2.02 4.04 4.34 2.02 4.23 3.82 20.11 4.61 4.72 20.15 5.47
All / Est 4.15 2.02 4.04 4.34 2.02 4.23 3.82 20.11 4.61 4.72 20.15 5.47
Noc / All 3.54 2.02 3.47 3.97 2.02 3.85 3.25 20.11 4.23 4.23 20.15 5.18
Noc / Est 3.54 2.02 3.47 3.97 2.02 3.85 3.25 20.11 4.23 4.23 20.15 5.18
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 6.48 3.41 6.19 7.32 3.44 6.96 7.85 26.96 9.62 8.59 26.96 10.29
All / Est 6.48 3.41 6.19 7.32 3.44 6.96 7.85 26.96 9.62 8.59 26.96 10.29
Noc / All 5.85 3.41 5.63 6.63 5.11 6.53 6.84 23.37 8.26 7.18 13.18 7.60
Noc / Est 5.85 3.41 5.63 6.63 5.11 6.53 6.84 23.37 8.26 7.18 13.18 7.60
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 3.70 1.58 3.35 4.55 3.40 4.36 5.27 12.25 6.43 5.51 12.25 6.63
All / Est 3.70 1.58 3.35 4.55 3.40 4.36 5.27 12.25 6.43 5.51 12.25 6.63
Noc / All 2.94 1.58 2.71 3.73 3.22 3.64 4.12 12.33 5.66 4.28 8.51 5.01
Noc / Est 2.94 1.58 2.71 3.73 3.22 3.64 4.12 12.33 5.66 4.28 8.51 5.01
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 6.98 4.58 6.77 7.63 4.23 7.33 5.88 1.30 5.46 8.15 5.07 7.88
All / Est 6.98 4.58 6.77 7.63 4.23 7.33 5.88 1.30 5.46 8.15 5.07 7.88
Noc / All 6.36 4.58 6.19 7.14 4.23 6.83 5.39 1.30 4.97 7.74 5.07 7.46
Noc / Est 6.36 4.58 6.19 7.14 4.23 6.83 5.39 1.30 4.97 7.74 5.07 7.46
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 8.60 4.20 8.14 9.25 4.46 8.75 9.35 2.09 8.58 10.75 4.71 10.12
All / Est 8.60 4.20 8.14 9.25 4.46 8.75 9.35 2.09 8.58 10.75 4.71 10.12
Noc / All 8.12 4.20 7.70 7.11 4.46 6.78 6.88 2.09 6.31 8.38 4.71 7.93
Noc / Est 8.12 4.20 7.70 7.11 4.46 6.78 6.88 2.09 6.31 8.38 4.71 7.93
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 2.51 9.89 3.95 2.75 9.89 4.15 2.10 44.00 10.30 3.97 44.00 11.80
All / Est 2.51 9.89 3.95 2.75 9.89 4.15 2.10 44.00 10.30 3.97 44.00 11.80
Noc / All 2.55 9.89 4.01 2.79 10.28 4.21 2.10 40.98 9.37 4.03 40.98 11.03
Noc / Est 2.55 9.89 4.01 2.79 10.28 4.21 2.10 40.98 9.37 4.03 40.98 11.03
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 2.00 3.28 2.23 2.04 3.28 2.27 1.07 3.97 1.61 2.88 3.97 3.08
All / Est 2.00 3.28 2.23 2.04 3.28 2.27 1.07 3.97 1.61 2.88 3.97 3.08
Noc / All 1.98 3.28 2.22 2.02 3.28 2.25 1.07 3.97 1.61 2.86 3.97 3.07
Noc / Est 1.98 3.28 2.22 2.02 3.28 2.25 1.07 3.97 1.61 2.86 3.97 3.07
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 2.22 5.13 2.97 2.24 5.13 2.98 1.67 29.84 8.87 3.67 29.84 10.35
All / Est 2.22 5.13 2.97 2.24 5.13 2.98 1.67 29.84 8.87 3.67 29.84 10.35
Noc / All 2.25 5.38 3.03 2.28 5.38 3.05 1.67 29.84 8.87 3.68 31.14 10.51
Noc / Est 2.25 5.38 3.03 2.28 5.38 3.05 1.67 29.84 8.87 3.68 31.14 10.51
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 2.32 4.08 2.72 4.04 4.39 4.12 2.92 9.09 4.33 4.94 9.18 5.91
All / Est 2.32 4.08 2.72 4.04 4.39 4.12 2.92 9.09 4.33 4.94 9.18 5.91
Noc / All 2.35 4.08 2.75 4.12 3.95 4.07 3.23 9.09 4.75 5.10 8.99 6.08
Noc / Est 2.35 4.08 2.75 4.12 3.95 4.07 3.23 9.09 4.75 5.10 8.99 6.08
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 2.33 3.31 2.51 2.56 4.39 2.89 3.00 6.57 3.64 3.40 7.16 4.07
All / Est 2.33 3.31 2.51 2.56 4.39 2.89 3.00 6.57 3.64 3.40 7.16 4.07
Noc / All 2.34 3.31 2.52 2.92 1.99 2.74 3.32 6.51 3.96 3.81 3.60 3.77
Noc / Est 2.34 3.31 2.52 2.92 1.99 2.74 3.32 6.51 3.96 3.81 3.60 3.77
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 1.05 1.70 1.10 1.23 1.70 1.26 2.05 1.93 2.04 2.10 1.93 2.08
All / Est 1.05 1.70 1.10 1.23 1.70 1.26 2.05 1.93 2.04 2.10 1.93 2.08
Noc / All 1.06 1.70 1.11 1.17 1.70 1.21 1.69 1.93 1.71 1.74 1.93 1.76
Noc / Est 1.06 1.70 1.11 1.17 1.70 1.21 1.69 1.93 1.71 1.74 1.93 1.76
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 1.27 0.87 1.23 1.62 6.00 2.16 2.36 8.57 3.12 2.50 8.57 3.25
All / Est 1.27 0.87 1.23 1.62 6.00 2.16 2.36 8.57 3.12 2.50 8.57 3.25
Noc / All 1.12 0.87 1.09 1.44 0.49 1.35 1.83 1.41 1.78 1.96 0.98 1.86
Noc / Est 1.12 0.87 1.09 1.44 0.49 1.35 1.83 1.41 1.78 1.96 0.98 1.86
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 1.86 3.20 1.88 2.35 3.20 2.36 3.73 3.20 3.72 4.07 3.20 4.06
All / Est 1.86 3.20 1.88 2.35 3.20 2.36 3.73 3.20 3.72 4.07 3.20 4.06
Noc / All 1.77 3.20 1.79 1.91 3.20 1.94 2.90 3.20 2.91 2.85 3.20 2.85
Noc / Est 1.77 3.20 1.79 1.91 3.20 1.94 2.90 3.20 2.91 2.85 3.20 2.85
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 4.14 4.42 4.17 5.90 7.50 6.05 8.47 5.09 8.16 8.84 8.11 8.78
All / Est 4.14 4.42 4.17 5.90 7.50 6.05 8.47 5.09 8.16 8.84 8.11 8.78
Noc / All 4.18 4.42 4.20 4.92 7.50 5.23 6.56 5.09 6.39 6.92 8.11 7.06
Noc / Est 4.18 4.42 4.20 4.92 7.50 5.23 6.56 5.09 6.39 6.92 8.11 7.06
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 6.00 2.92 5.55 8.69 13.10 9.34 9.72 7.43 9.39 10.49 14.19 11.04
All / Est 6.00 2.92 5.55 8.69 13.10 9.34 9.72 7.43 9.39 10.49 14.19 11.04
Noc / All 5.44 2.92 5.07 6.89 13.10 8.04 8.11 7.43 7.99 8.64 14.19 9.67
Noc / Est 5.44 2.92 5.07 6.89 13.10 8.04 8.11 7.43 7.99 8.64 14.19 9.67
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 2.16 1.76 2.12 3.51 5.33 3.70 5.70 12.56 6.41 6.30 12.93 6.99
All / Est 2.16 1.76 2.12 3.51 5.33 3.70 5.70 12.56 6.41 6.30 12.93 6.99
Noc / All 1.77 1.76 1.77 3.03 5.33 3.33 4.60 12.56 5.63 5.08 12.93 6.12
Noc / Est 1.77 1.76 1.77 3.03 5.33 3.33 4.60 12.56 5.63 5.08 12.93 6.12
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 8.88 2.61 5.90 11.79 100.00 53.70 14.66 99.88 55.15 15.42 100.00 55.60
All / Est 8.88 2.61 5.90 11.79 100.00 53.70 14.66 99.88 55.15 15.42 100.00 55.60
Noc / All 8.36 2.61 5.60 9.10 100.00 28.22 11.37 99.63 35.71 11.98 100.00 30.49
Noc / Est 8.36 2.61 5.60 9.10 100.00 28.22 11.37 99.63 35.71 11.98 100.00 30.49
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 1.64 4.37 1.95 2.20 5.00 2.52 4.31 10.93 5.06 4.46 11.94 5.31
All / Est 1.64 4.37 1.95 2.20 5.00 2.52 4.31 10.93 5.06 4.46 11.94 5.31
Noc / All 1.58 4.37 1.90 2.17 5.00 2.59 2.65 10.93 3.85 2.85 11.94 4.19
Noc / Est 1.58 4.37 1.90 2.17 5.00 2.59 2.65 10.93 3.85 2.85 11.94 4.19
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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