Method

A general dense image matching framework combining direct and feature-based costs [TGV2ADCSIFT]


Submitted on 26 Mar. 2013 10:50 by
Jim Braux-Zin (CEA, LIST)

Running time:12s
Environment:GPU @ 2.4 Ghz (C/C++)

Method Description:
ADCensus-based optical flow with TGV2
regularization and Fast-SIFT point matches
integration
Parameters:
Direct data term weight: λ = 6
Feature-based data term weight: β = 0.5
TGV2 weights: α0 = 4, α1 = 1

Optimisation parameters:
warps: 20
iterations per warp: 40
subsampling factor: s = 0.8
Latex Bibtex:
@inproceedings{
brauxzin2013iccv,
author = "Braux-Zin, Jim and Dupont, Romain
and Bartoli, Adrien",
organization = "IEEE",
booktitle = "International Conference on
Computer Vision (ICCV)",
year = "2013",
title = "A General Dense Image Matching
Framework Combining Direct and Feature-based
Costs"
}

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 8.04 % 17.87 % 1.5 px 4.5 px
3 pixels 6.20 % 15.15 % 1.5 px 4.5 px
4 pixels 5.24 % 13.43 % 1.5 px 4.5 px
5 pixels 4.60 % 12.17 % 1.5 px 4.5 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 9.53 % 19.73 % 1.2 px 2.5 px
3 pixels 7.45 % 16.35 % 1.2 px 2.5 px
4 pixels 6.28 % 13.80 % 1.2 px 2.5 px
5 pixels 5.40 % 11.57 % 1.2 px 2.5 px
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Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.96 % 14.55 % 0.7 px 1.6 px
3 pixels 3.67 % 11.36 % 0.7 px 1.6 px
4 pixels 2.85 % 8.93 % 0.7 px 1.6 px
5 pixels 2.12 % 7.25 % 0.7 px 1.6 px
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Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.76 % 21.04 % 0.8 px 2.5 px
3 pixels 5.67 % 17.83 % 0.8 px 2.5 px
4 pixels 4.49 % 15.67 % 0.8 px 2.5 px
5 pixels 3.64 % 13.78 % 0.8 px 2.5 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.14 % 20.80 % 0.9 px 2.7 px
3 pixels 6.05 % 17.49 % 0.9 px 2.7 px
4 pixels 4.61 % 14.70 % 0.9 px 2.7 px
5 pixels 3.49 % 12.08 % 0.9 px 2.7 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.20 % 6.20 % 0.5 px 0.7 px
3 pixels 1.55 % 2.88 % 0.5 px 0.7 px
4 pixels 1.14 % 2.04 % 0.5 px 0.7 px
5 pixels 0.93 % 1.66 % 0.5 px 0.7 px
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Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.59 % 19.14 % 1.0 px 6.0 px
3 pixels 5.07 % 16.51 % 1.0 px 6.0 px
4 pixels 4.30 % 14.84 % 1.0 px 6.0 px
5 pixels 3.76 % 13.31 % 1.0 px 6.0 px
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Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.80 % 14.80 % 0.8 px 2.0 px
3 pixels 4.93 % 10.87 % 0.8 px 2.0 px
4 pixels 4.03 % 8.95 % 0.8 px 2.0 px
5 pixels 3.40 % 7.75 % 0.8 px 2.0 px
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Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.39 % 25.02 % 2.3 px 7.8 px
3 pixels 9.79 % 21.20 % 2.3 px 7.8 px
4 pixels 8.26 % 18.61 % 2.3 px 7.8 px
5 pixels 7.34 % 16.47 % 2.3 px 7.8 px
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Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.84 % 19.65 % 0.7 px 4.2 px
3 pixels 2.54 % 17.70 % 0.7 px 4.2 px
4 pixels 1.99 % 16.33 % 0.7 px 4.2 px
5 pixels 1.66 % 15.16 % 0.7 px 4.2 px
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Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.35 % 26.43 % 1.4 px 4.0 px
3 pixels 11.00 % 21.58 % 1.4 px 4.0 px
4 pixels 7.87 % 17.76 % 1.4 px 4.0 px
5 pixels 5.75 % 14.87 % 1.4 px 4.0 px
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Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.66 % 20.84 % 0.6 px 5.0 px
3 pixels 3.45 % 18.03 % 0.6 px 5.0 px
4 pixels 2.41 % 16.05 % 0.6 px 5.0 px
5 pixels 1.87 % 14.58 % 0.6 px 5.0 px
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Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.07 % 21.53 % 1.3 px 4.1 px
3 pixels 7.02 % 17.21 % 1.3 px 4.1 px
4 pixels 5.55 % 14.30 % 1.3 px 4.1 px
5 pixels 4.50 % 12.11 % 1.3 px 4.1 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.89 % 21.82 % 1.8 px 5.3 px
3 pixels 8.64 % 19.50 % 1.8 px 5.3 px
4 pixels 7.64 % 17.58 % 1.8 px 5.3 px
5 pixels 6.71 % 15.81 % 1.8 px 5.3 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.31 % 16.48 % 1.2 px 2.5 px
3 pixels 5.85 % 13.90 % 1.2 px 2.5 px
4 pixels 5.07 % 11.93 % 1.2 px 2.5 px
5 pixels 4.55 % 10.29 % 1.2 px 2.5 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.72 % 22.59 % 1.7 px 9.7 px
3 pixels 6.28 % 20.55 % 1.7 px 9.7 px
4 pixels 5.58 % 19.19 % 1.7 px 9.7 px
5 pixels 5.04 % 18.00 % 1.7 px 9.7 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.10 % 28.33 % 1.6 px 6.7 px
3 pixels 12.22 % 24.96 % 1.6 px 6.7 px
4 pixels 10.22 % 22.45 % 1.6 px 6.7 px
5 pixels 8.32 % 20.15 % 1.6 px 6.7 px
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Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.70 % 7.21 % 0.5 px 1.2 px
3 pixels 0.69 % 5.56 % 0.5 px 1.2 px
4 pixels 0.40 % 4.89 % 0.5 px 1.2 px
5 pixels 0.28 % 4.46 % 0.5 px 1.2 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.39 % 20.50 % 1.1 px 4.9 px
3 pixels 6.35 % 17.64 % 1.1 px 4.9 px
4 pixels 5.17 % 15.67 % 1.1 px 4.9 px
5 pixels 4.25 % 13.86 % 1.1 px 4.9 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.59 % 5.90 % 0.4 px 0.9 px
3 pixels 0.24 % 4.36 % 0.4 px 0.9 px
4 pixels 0.15 % 3.53 % 0.4 px 0.9 px
5 pixels 0.07 % 3.04 % 0.4 px 0.9 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.18 % 9.35 % 0.5 px 1.1 px
3 pixels 2.45 % 6.64 % 0.5 px 1.1 px
4 pixels 2.01 % 4.64 % 0.5 px 1.1 px
5 pixels 1.72 % 3.73 % 0.5 px 1.1 px
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