Method

ROBUST LOCAL OPTICAL FLOW: LONG-RANGE MOTIONS AND VARYING ILLUMINATIONS [RLOF(IM-GM)]


Submitted on 9 Feb. 2016 13:45 by
Tobias Senst (Technische Universität Berlin)

Running time:3.7 s
Environment:4 core @ 3.4 Ghz (C/C++)

Method Description:
This RLOF based local Optical Flow method takes into account an illumination model to deal with varying illumination and a prediction step based on a perspective global motion model to deal with long-range motions. This method is designed to estimate sparse optical flow field (motion vector sets). For this benchmark features to track are initialized using the FAST detector and outlier filtered by forward-backward confidence. Consequently the reported run-time of 4 seconds includes the two runs (forward and backward).
Parameters:
Level = 3
max. no. Iterations = 30
\Omega_{max} = 19x19
\Omega_{min} = 9x9
\tau = 35
Confidence-Type = Forward/Backward Motion
Confidence-Threshold = 0.3
Latex Bibtex:
@INPROCEEDINGS{7533207,
author={Tobias Senst and Jonas Geistert and Thomas Sikora},
booktitle={2016 IEEE International Conference on Image Processing (ICIP)},
title={Robust local optical flow: Long-range motions and varying illuminations},
year={2016},
pages={4478-4482},
keywords={Feature Tracking;Global Motion Model;Illumination Model;KLT;Optical Flow;RLOF},
doi={10.1109/ICIP.2016.7533207},
month={Sept},}

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 44.36 % 50.86 % 8.2 px 15.4 px
3 pixels 37.49 % 44.78 % 8.2 px 15.4 px
4 pixels 33.02 % 40.79 % 8.2 px 15.4 px
5 pixels 29.74 % 37.83 % 8.2 px 15.4 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 41.67 % 50.25 % 6.2 px 12.1 px
3 pixels 35.86 % 45.25 % 6.2 px 12.1 px
4 pixels 32.16 % 42.09 % 6.2 px 12.1 px
5 pixels 29.40 % 39.70 % 6.2 px 12.1 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 39.13 % 47.18 % 3.5 px 7.7 px
3 pixels 30.38 % 39.23 % 3.5 px 7.7 px
4 pixels 24.67 % 33.98 % 3.5 px 7.7 px
5 pixels 20.42 % 30.03 % 3.5 px 7.7 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 47.09 % 55.49 % 5.9 px 12.5 px
3 pixels 39.85 % 49.29 % 5.9 px 12.5 px
4 pixels 34.95 % 45.01 % 5.9 px 12.5 px
5 pixels 31.27 % 41.70 % 5.9 px 12.5 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 56.38 % 63.57 % 10.0 px 16.9 px
3 pixels 49.17 % 57.47 % 10.0 px 16.9 px
4 pixels 44.31 % 53.24 % 10.0 px 16.9 px
5 pixels 40.59 % 49.96 % 10.0 px 16.9 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 32.31 % 37.55 % 3.2 px 5.1 px
3 pixels 24.28 % 29.84 % 3.2 px 5.1 px
4 pixels 19.36 % 25.05 % 3.2 px 5.1 px
5 pixels 16.10 % 21.84 % 3.2 px 5.1 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 53.94 % 61.03 % 9.6 px 20.7 px
3 pixels 45.96 % 54.13 % 9.6 px 20.7 px
4 pixels 40.99 % 49.79 % 9.6 px 20.7 px
5 pixels 37.35 % 46.58 % 9.6 px 20.7 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 42.36 % 49.96 % 6.3 px 11.6 px
3 pixels 35.29 % 43.69 % 6.3 px 11.6 px
4 pixels 30.68 % 39.54 % 6.3 px 11.6 px
5 pixels 27.37 % 36.46 % 6.3 px 11.6 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 48.37 % 56.90 % 9.2 px 19.7 px
3 pixels 39.65 % 49.57 % 9.2 px 19.7 px
4 pixels 34.13 % 44.88 % 9.2 px 19.7 px
5 pixels 30.46 % 41.71 % 9.2 px 19.7 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 54.81 % 62.90 % 11.5 px 23.8 px
3 pixels 46.92 % 56.41 % 11.5 px 23.8 px
4 pixels 42.05 % 52.40 % 11.5 px 23.8 px
5 pixels 38.48 % 49.44 % 11.5 px 23.8 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 54.56 % 61.51 % 10.0 px 18.3 px
3 pixels 47.02 % 54.99 % 10.0 px 18.3 px
4 pixels 41.99 % 50.55 % 10.0 px 18.3 px
5 pixels 37.94 % 46.90 % 10.0 px 18.3 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 53.62 % 61.75 % 14.7 px 30.0 px
3 pixels 46.25 % 55.61 % 14.7 px 30.0 px
4 pixels 41.02 % 51.22 % 14.7 px 30.0 px
5 pixels 37.19 % 47.99 % 14.7 px 30.0 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 49.65 % 57.19 % 6.2 px 12.6 px
3 pixels 40.24 % 49.03 % 6.2 px 12.6 px
4 pixels 33.90 % 43.46 % 6.2 px 12.6 px
5 pixels 29.37 % 39.40 % 6.2 px 12.6 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 59.68 % 66.08 % 11.6 px 22.9 px
3 pixels 52.04 % 59.61 % 11.6 px 22.9 px
4 pixels 46.76 % 55.11 % 11.6 px 22.9 px
5 pixels 42.55 % 51.54 % 11.6 px 22.9 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 45.02 % 51.66 % 9.3 px 15.4 px
3 pixels 38.55 % 45.95 % 9.3 px 15.4 px
4 pixels 34.59 % 42.43 % 9.3 px 15.4 px
5 pixels 31.60 % 39.78 % 9.3 px 15.4 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 68.61 % 73.94 % 19.0 px 29.2 px
3 pixels 62.61 % 68.92 % 19.0 px 29.2 px
4 pixels 58.22 % 65.22 % 19.0 px 29.2 px
5 pixels 54.69 % 62.22 % 19.0 px 29.2 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 67.63 % 73.27 % 12.9 px 25.0 px
3 pixels 60.15 % 67.07 % 12.9 px 25.0 px
4 pixels 54.65 % 62.49 % 12.9 px 25.0 px
5 pixels 50.57 % 59.05 % 12.9 px 25.0 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 15.62 % 22.80 % 1.8 px 4.0 px
3 pixels 11.23 % 18.35 % 1.8 px 4.0 px
4 pixels 8.94 % 16.03 % 1.8 px 4.0 px
5 pixels 7.50 % 14.48 % 1.8 px 4.0 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 52.86 % 59.82 % 6.7 px 15.7 px
3 pixels 43.85 % 51.91 % 6.7 px 15.7 px
4 pixels 37.92 % 46.60 % 6.7 px 15.7 px
5 pixels 33.49 % 42.54 % 6.7 px 15.7 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 18.11 % 26.14 % 2.1 px 4.7 px
3 pixels 12.47 % 20.73 % 2.1 px 4.7 px
4 pixels 9.73 % 18.03 % 2.1 px 4.7 px
5 pixels 8.15 % 16.35 % 2.1 px 4.7 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 25.03 % 33.59 % 3.3 px 7.4 px
3 pixels 18.17 % 27.18 % 3.3 px 7.4 px
4 pixels 14.36 % 23.44 % 3.3 px 7.4 px
5 pixels 11.91 % 20.88 % 3.3 px 7.4 px
This table as LaTeX





This figure as: png eps pdf txt gnuplot





eXTReMe Tracker