Method

Combining Stereo Disparity and Optical Flow for Basic Scene Flow [SGM&FlowFie+]


Submitted on 30 Aug. 2017 14:50 by
Oliver Wasenmüller (DFKI)

Running time:29 s
Environment:1 core @ 3.5 Ghz (C/C++)

Method Description:
Scene flow is a description of real world motion in 3D that contains more information than optical flow. There exists no applicable variant for real-time scene flow estimation in an automotive or commercial vehicle context that is sufficiently robust and accurate. Therefore, many applications estimate the 2D optical flow instead. In this paper, we examine the combination of top-performing state-of-the-art optical flow and stereo disparity algorithms in order to achieve a basic scene flow. On the public KITTI scene flow benchmark we demonstrate its reasonable accuracy.
Parameters:
As in the paper
Latex Bibtex:
@inproceedings{Schuster2018Combining,
author = {René Schuster and Christian Bailer and Oliver Wasenmüller and Didier Stricker},
title = {Combining Stereo Disparity and Optical Flow for Basic Scene Flow},
booktitle = {Commercial Vehicle Technology Symposium (CVTS)},
year = {2018}
}

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 11.93 20.57 13.37 27.02 31.71 27.80 22.83 22.75 22.82 32.26 40.12 33.57
All / Est 3.33 11.15 4.68 9.36 16.75 10.61 10.97 16.01 11.84 17.66 30.08 19.81
Noc / All 11.12 18.84 12.39 13.34 25.51 15.52 10.38 17.97 11.75 18.67 33.96 21.41
Noc / Est 3.27 11.02 4.61 6.82 15.09 8.23 8.51 14.02 9.47 14.21 27.04 16.43
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 16.06 9.84 15.20 22.90 15.91 21.94 14.25 25.28 15.76 28.37 39.93 29.96
All / Est 5.49 4.18 5.30 6.49 5.21 6.30 3.83 26.87 7.30 13.29 34.06 16.41
Noc / All 15.62 9.84 14.81 12.65 15.91 13.16 5.22 25.28 8.26 17.85 39.93 21.26
Noc / Est 5.45 4.18 5.26 6.02 5.21 5.90 3.42 26.87 6.96 11.12 34.06 14.65
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 9.44 14.05 9.96 20.48 16.37 20.02 11.88 36.87 14.68 22.30 42.42 24.55
All / Est 3.48 12.37 4.58 6.37 14.29 7.36 2.27 35.94 6.43 11.12 40.70 14.77
Noc / All 9.11 14.05 9.67 9.75 16.37 10.58 3.18 36.87 7.34 11.36 42.42 15.28
Noc / Est 3.48 12.37 4.58 5.86 14.29 6.93 2.22 35.94 6.40 9.31 40.70 13.28
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 13.25 7.82 12.99 26.40 4.64 25.35 20.49 13.08 20.13 31.02 18.40 30.41
All / Est 3.98 5.20 4.05 6.30 4.45 6.18 4.47 12.99 4.96 12.96 16.50 13.16
Noc / All 12.69 7.82 12.45 12.50 4.64 12.04 6.41 13.08 6.80 15.31 18.40 15.49
Noc / Est 3.98 5.20 4.05 5.81 4.45 5.73 4.16 12.99 4.67 11.12 16.50 11.43
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 19.68 18.91 19.61 30.01 65.27 33.27 25.83 86.66 31.45 34.60 87.20 39.46
All / Est 5.29 13.21 6.13 9.69 47.77 12.72 9.90 85.33 17.85 17.19 85.78 24.42
Noc / All 19.08 18.91 19.06 13.43 48.63 15.91 9.74 82.20 15.98 17.94 78.33 22.18
Noc / Est 5.29 13.21 6.12 6.99 41.31 9.24 7.08 81.36 13.56 13.75 77.21 18.27
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 11.53 13.58 11.87 31.84 42.03 33.53 33.88 29.25 33.11 38.34 49.07 40.12
All / Est 4.34 10.62 5.51 15.46 27.92 17.58 21.82 27.64 22.91 25.43 45.39 29.15
Noc / All 10.28 13.58 10.84 17.76 32.76 20.34 21.52 29.00 22.92 25.11 40.93 27.84
Noc / Est 4.34 10.62 5.51 12.08 25.25 14.32 18.58 26.89 20.16 21.80 39.07 24.86
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 24.06 15.72 23.31 38.36 21.47 36.84 24.45 0.00 22.25 43.91 24.51 42.17
All / Est 10.33 11.33 10.44 13.84 14.40 13.90 9.86 0.00 8.74 26.35 20.14 25.64
Noc / All 22.28 15.72 21.67 26.54 21.47 26.00 13.49 0.00 12.10 32.89 24.51 32.00
Noc / Est 10.12 11.33 10.26 13.01 14.40 13.18 9.15 0.00 8.10 23.70 20.14 23.28
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 21.95 11.02 20.80 38.48 13.57 35.85 20.44 1.00 18.39 42.02 16.07 39.28
All / Est 6.46 6.87 6.52 11.22 8.28 10.79 5.20 0.83 4.61 21.71 11.51 20.32
Noc / All 21.25 11.02 20.15 28.18 13.57 26.40 11.53 1.00 10.28 32.09 16.07 30.14
Noc / Est 6.46 6.87 6.52 9.94 8.28 9.69 5.03 0.83 4.46 19.80 11.51 18.65
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 7.75 12.03 8.58 14.35 22.46 15.94 1.06 71.36 14.82 16.57 75.52 28.11
All / Est 3.50 9.57 4.74 6.00 15.40 7.85 1.17 71.23 15.53 9.45 75.22 22.93
Noc / All 6.33 12.03 7.46 13.03 23.61 15.03 1.06 69.69 13.89 15.28 74.10 26.42
Noc / Est 3.31 9.57 4.59 5.82 16.29 7.78 1.17 69.43 14.50 9.27 73.67 21.87
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 6.64 8.82 7.04 11.72 11.26 11.63 1.34 12.68 3.43 14.57 22.71 16.07
All / Est 2.95 6.91 3.74 4.74 7.02 5.19 1.39 12.53 3.61 8.58 20.68 10.99
Noc / All 6.63 8.82 7.03 11.71 11.26 11.62 1.34 12.68 3.43 14.55 22.71 16.05
Noc / Est 2.94 6.91 3.73 4.72 7.02 5.17 1.39 12.53 3.61 8.57 20.68 10.98
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 6.31 12.10 7.79 12.64 14.88 13.21 0.87 35.61 9.74 14.51 43.75 21.98
All / Est 2.96 6.13 3.79 4.66 10.18 6.09 0.82 36.97 10.29 8.22 40.34 16.63
Noc / All 5.11 7.83 5.78 11.55 14.98 12.40 0.87 35.61 9.74 13.40 40.98 20.27
Noc / Est 2.82 4.38 3.23 4.55 10.22 6.00 0.82 36.97 10.29 8.08 39.22 16.14
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 10.69 7.54 9.97 25.07 13.80 22.50 15.98 10.31 14.68 28.40 20.13 26.51
All / Est 3.32 4.61 3.65 8.47 6.32 7.93 3.52 9.13 4.96 13.88 17.27 14.76
Noc / All 10.60 7.54 9.89 12.18 9.70 11.55 4.28 10.31 5.85 14.22 16.03 14.68
Noc / Est 3.32 4.61 3.65 8.05 5.50 7.40 3.47 9.13 4.93 12.56 13.45 12.78
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 10.01 4.84 9.08 20.04 21.69 20.34 15.03 8.80 13.91 21.87 26.30 22.67
All / Est 2.02 3.29 2.27 4.81 10.54 5.86 3.67 7.94 4.51 8.41 23.71 11.43
Noc / All 9.95 4.84 9.02 7.09 15.35 8.67 5.06 8.79 5.81 9.08 20.11 11.19
Noc / Est 2.02 3.29 2.27 4.58 9.01 5.38 3.65 7.93 4.50 7.43 17.08 9.22
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 13.08 5.20 12.55 20.54 9.20 19.78 18.93 3.31 17.88 22.71 10.52 21.88
All / Est 0.95 4.31 1.22 2.36 5.60 2.61 3.33 3.28 3.32 5.98 9.68 6.28
Noc / All 13.03 5.20 12.50 3.81 9.20 4.25 4.54 3.31 4.45 6.06 10.52 6.42
Noc / Est 0.95 4.31 1.22 1.98 5.60 2.27 3.29 3.28 3.29 4.72 9.68 5.12
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 14.18 9.66 13.62 20.52 45.39 23.57 17.95 33.43 19.85 21.54 51.06 25.16
All / Est 0.83 3.57 1.16 2.21 15.18 3.51 1.81 16.26 3.53 4.48 38.22 8.49
Noc / All 13.90 9.66 13.38 3.41 13.16 4.35 2.40 15.30 3.90 4.35 21.71 6.03
Noc / Est 0.83 3.57 1.16 1.93 10.56 2.75 1.66 14.18 3.11 3.41 20.70 5.07
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 12.39 8.09 12.32 20.10 7.25 19.88 18.54 14.78 18.47 22.36 15.63 22.24
All / Est 1.52 7.57 1.64 2.76 6.78 2.84 3.85 14.47 4.07 6.45 15.15 6.63
Noc / All 12.24 8.09 12.17 3.05 7.25 3.14 3.86 14.78 4.09 5.54 15.63 5.75
Noc / Est 1.52 7.57 1.64 2.26 6.78 2.35 3.58 14.47 3.81 5.09 15.15 5.30
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 19.28 5.09 18.00 32.44 11.92 30.58 30.98 6.80 28.79 36.90 15.26 34.94
All / Est 3.45 4.11 3.52 8.31 9.22 8.41 11.93 6.45 11.31 17.93 14.39 17.52
Noc / All 18.65 5.09 17.40 10.81 11.92 10.94 11.34 6.80 10.82 16.01 15.26 15.92
Noc / Est 3.40 4.11 3.48 6.93 9.22 7.21 9.97 6.45 9.56 14.22 14.39 14.24
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 19.58 8.72 17.98 31.04 24.90 30.14 31.61 38.59 32.64 38.32 44.03 39.16
All / Est 5.32 5.40 5.34 15.33 17.54 15.71 15.53 36.25 19.06 23.37 41.72 26.50
Noc / All 18.85 8.72 17.34 15.07 24.90 16.89 13.30 38.59 17.84 19.05 44.03 23.67
Noc / Est 5.13 5.40 5.17 9.71 17.54 11.12 10.19 36.25 14.87 15.70 41.72 20.51
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 10.20 3.07 9.46 27.46 14.57 26.12 28.42 24.20 27.98 33.14 29.44 32.76
All / Est 2.58 2.27 2.54 7.88 9.52 8.08 11.15 23.63 12.72 16.29 28.45 17.83
Noc / All 9.99 3.07 9.26 7.53 14.57 8.46 9.27 24.20 11.21 12.93 29.44 15.11
Noc / Est 2.56 2.27 2.52 5.69 9.52 6.18 8.71 23.63 10.64 12.25 28.45 14.39
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 16.04 20.40 18.11 36.34 99.28 66.25 36.05 100.00 66.43 41.01 100.00 69.03
All / Est 6.36 10.46 8.36 9.86 98.97 48.67 15.10 100.00 56.61 19.95 100.00 59.09
Noc / All 15.26 20.40 17.73 14.69 100.00 32.64 15.62 100.00 38.89 20.20 100.00 36.99
Noc / Est 6.31 10.46 8.34 8.79 100.00 28.16 13.07 100.00 35.41 17.26 100.00 34.40
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 3.32 6.33 3.66 30.30 8.32 27.81 32.26 22.05 31.11 36.55 25.93 35.35
All / Est 1.83 5.73 2.36 10.89 7.40 10.40 16.40 22.37 17.22 19.73 25.22 20.49
Noc / All 3.14 6.33 3.51 8.10 8.32 8.14 12.39 22.05 13.79 14.59 25.93 16.26
Noc / Est 1.81 5.73 2.35 6.57 7.40 6.69 11.69 22.37 13.23 13.88 25.22 15.55
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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