Method

Geometrically Constrained Block Matching (binocular) [ms] [st] [GC-BM-Bino]


Submitted on 10 Jul. 2012 14:01 by
Bernd Kitt (Karlsruhe Institute of Technology (KIT)

Running time:1.3 s
Environment:2 cores @ 2.5 Ghz (C/C++)

Method Description:
Method performs a simple block matching around a precomputed
prior based on robustly matched feature points. A Delaunay
triangulation is used to interpolate the flow vectors.
We also use the epipolar geometry to reject candidates which are
too far away from the corresponding epipolar line. Hence, the
algorithm can only be used in case of static scenes (i.e. motion
stereo). Independently moving object cannot be handled with this
approach.
Parameters:
\NMS=2, \beta=0.5, \sigma=0.3 \blockSize=3x3
Latex Bibtex:
@inproceedings{KittEtAl2012,
Address = {Anchorage, AK, USA},
Author = {Bernd Kitt and Henning Lategahn},
Booktitle = {ITSC},
Month = {September},
Pages = {300 -- 306},
Title = {Trinocular Optical Flow Estimation for Intelligent
Vehicle Applications},
Year = {2012}}

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 22.65 % 32.76 % 5.0 px 12.1 px
3 pixels 18.83 % 29.30 % 5.0 px 12.1 px
4 pixels 16.80 % 27.34 % 5.0 px 12.1 px
5 pixels 15.33 % 25.84 % 5.0 px 12.1 px
This table as LaTeX

Reflective Regions

This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 21.27 % 32.76 % 3.0 px 7.8 px
3 pixels 17.12 % 29.03 % 3.0 px 7.8 px
4 pixels 14.51 % 26.55 % 3.0 px 7.8 px
5 pixels 12.65 % 24.66 % 3.0 px 7.8 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 20.22 % 31.02 % 2.5 px 5.9 px
3 pixels 17.01 % 27.73 % 2.5 px 5.9 px
4 pixels 14.91 % 25.52 % 2.5 px 5.9 px
5 pixels 13.15 % 23.50 % 2.5 px 5.9 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 27.85 % 39.36 % 4.5 px 11.4 px
3 pixels 23.54 % 35.73 % 4.5 px 11.4 px
4 pixels 20.72 % 33.33 % 4.5 px 11.4 px
5 pixels 18.58 % 31.46 % 4.5 px 11.4 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 19.23 % 32.50 % 3.4 px 10.3 px
3 pixels 15.09 % 28.88 % 3.4 px 10.3 px
4 pixels 12.82 % 26.75 % 3.4 px 10.3 px
5 pixels 11.12 % 24.96 % 3.4 px 10.3 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.93 % 20.72 % 2.1 px 3.8 px
3 pixels 10.63 % 17.12 % 2.1 px 3.8 px
4 pixels 8.92 % 14.92 % 2.1 px 3.8 px
5 pixels 7.69 % 13.22 % 2.1 px 3.8 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 19.97 % 32.69 % 4.2 px 15.7 px
3 pixels 16.22 % 29.53 % 4.2 px 15.7 px
4 pixels 14.10 % 27.71 % 4.2 px 15.7 px
5 pixels 12.52 % 26.26 % 4.2 px 15.7 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 20.49 % 31.06 % 3.5 px 7.4 px
3 pixels 16.95 % 27.38 % 3.5 px 7.4 px
4 pixels 15.07 % 25.29 % 3.5 px 7.4 px
5 pixels 13.67 % 23.29 % 3.5 px 7.4 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 23.72 % 36.38 % 6.5 px 16.9 px
3 pixels 20.24 % 33.49 % 6.5 px 16.9 px
4 pixels 18.65 % 32.12 % 6.5 px 16.9 px
5 pixels 17.54 % 31.11 % 6.5 px 16.9 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.62 % 33.08 % 2.8 px 10.7 px
3 pixels 14.51 % 29.69 % 2.8 px 10.7 px
4 pixels 12.05 % 27.42 % 2.8 px 10.7 px
5 pixels 10.24 % 25.51 % 2.8 px 10.7 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 28.83 % 39.86 % 7.5 px 16.1 px
3 pixels 24.09 % 35.82 % 7.5 px 16.1 px
4 pixels 21.47 % 33.55 % 7.5 px 16.1 px
5 pixels 19.65 % 31.94 % 7.5 px 16.1 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 28.36 % 41.00 % 5.8 px 18.1 px
3 pixels 23.41 % 36.86 % 5.8 px 18.1 px
4 pixels 20.90 % 34.65 % 5.8 px 18.1 px
5 pixels 19.31 % 33.22 % 5.8 px 18.1 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 26.81 % 38.20 % 4.5 px 11.1 px
3 pixels 21.88 % 34.02 % 4.5 px 11.1 px
4 pixels 18.88 % 31.39 % 4.5 px 11.1 px
5 pixels 16.71 % 29.40 % 4.5 px 11.1 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 21.50 % 33.87 % 5.4 px 15.8 px
3 pixels 18.47 % 31.24 % 5.4 px 15.8 px
4 pixels 16.56 % 29.48 % 5.4 px 15.8 px
5 pixels 14.88 % 27.86 % 5.4 px 15.8 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 19.54 % 29.32 % 4.2 px 9.8 px
3 pixels 17.19 % 27.20 % 4.2 px 9.8 px
4 pixels 16.00 % 26.00 % 4.2 px 9.8 px
5 pixels 15.20 % 25.17 % 4.2 px 9.8 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 30.92 % 42.67 % 4.6 px 12.7 px
3 pixels 26.70 % 39.17 % 4.6 px 12.7 px
4 pixels 23.87 % 36.81 % 4.6 px 12.7 px
5 pixels 21.52 % 34.83 % 4.6 px 12.7 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 30.07 % 42.10 % 5.4 px 17.0 px
3 pixels 24.69 % 37.52 % 5.4 px 17.0 px
4 pixels 21.73 % 34.94 % 5.4 px 17.0 px
5 pixels 19.56 % 33.00 % 5.4 px 17.0 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.35 % 21.15 % 2.0 px 5.6 px
3 pixels 9.19 % 17.97 % 2.0 px 5.6 px
4 pixels 8.17 % 16.46 % 2.0 px 5.6 px
5 pixels 7.64 % 15.83 % 2.0 px 5.6 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 23.61 % 35.48 % 4.7 px 14.2 px
3 pixels 20.19 % 32.51 % 4.7 px 14.2 px
4 pixels 17.92 % 30.53 % 4.7 px 14.2 px
5 pixels 16.14 % 28.97 % 4.7 px 14.2 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.13 % 19.27 % 1.5 px 4.9 px
3 pixels 6.69 % 15.93 % 1.5 px 4.9 px
4 pixels 4.85 % 14.09 % 1.5 px 4.9 px
5 pixels 3.73 % 12.85 % 1.5 px 4.9 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot



Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.57 % 23.10 % 2.4 px 5.2 px
3 pixels 9.88 % 20.20 % 2.4 px 5.2 px
4 pixels 8.36 % 18.15 % 2.4 px 5.2 px
5 pixels 7.37 % 16.34 % 2.4 px 5.2 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot





eXTReMe Tracker