Method

Piecewise Rigid Scene flow + E [st] [PR-Sf+E]


Submitted on 8 Apr. 2013 15:31 by
Christoph Vogel (TU Graz)

Running time:200 s
Environment:4 cores @ 3.0 Ghz (Matlab + C/C++)

Method Description:
Dense 3D scene flow method, representing a scene
by a collection of planar, rigidly moving local
segments.
The energy function assigns each pixel to a
segment and each segment to a 3D moving plane.
Optimization is performed in two steps, firstly,
starting from an initial superpixel segmentation
shape and motion parameters are estimated, then
the pixel to segment assignment is updated.

(PRSPix-2D+R+E) Method from the paper
Parameters:
.
Latex Bibtex:
@inproceedings{ICCV_2013_Vogel_Roth_Schindler,
title = {Piecewise Rigid Scene Flow},
author = {Vogel, C. and Schindler,
K. and Roth, S.},
booktitle = {International Conference on Computer
Vision (ICCV)},
publisher = {IEEE},
note = {to appear},
month = dec,
year = {2013}
}

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 5.58 % 10.13 % 0.9 px 1.6 px
3 pixels 3.57 % 7.07 % 0.9 px 1.6 px
4 pixels 2.69 % 5.48 % 0.9 px 1.6 px
5 pixels 2.17 % 4.49 % 0.9 px 1.6 px
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Reflective Regions

This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.88 % 8.32 % 0.6 px 0.8 px
3 pixels 2.74 % 4.83 % 0.6 px 0.8 px
4 pixels 2.13 % 2.97 % 0.6 px 0.8 px
5 pixels 1.38 % 2.04 % 0.6 px 0.8 px
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Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.57 % 7.69 % 0.6 px 0.8 px
3 pixels 2.95 % 4.77 % 0.6 px 0.8 px
4 pixels 2.15 % 3.28 % 0.6 px 0.8 px
5 pixels 1.68 % 2.63 % 0.6 px 0.8 px
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Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.47 % 9.35 % 0.6 px 1.0 px
3 pixels 2.78 % 6.80 % 0.6 px 1.0 px
4 pixels 2.09 % 5.32 % 0.6 px 1.0 px
5 pixels 1.61 % 4.09 % 0.6 px 1.0 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.51 % 8.51 % 0.6 px 0.9 px
3 pixels 3.18 % 6.05 % 0.6 px 0.9 px
4 pixels 2.31 % 4.73 % 0.6 px 0.9 px
5 pixels 1.60 % 3.69 % 0.6 px 0.9 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.96 % 4.20 % 0.5 px 0.6 px
3 pixels 1.73 % 2.27 % 0.5 px 0.6 px
4 pixels 0.53 % 0.82 % 0.5 px 0.6 px
5 pixels 0.41 % 0.62 % 0.5 px 0.6 px
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Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.54 % 9.27 % 0.6 px 1.2 px
3 pixels 1.42 % 5.39 % 0.6 px 1.2 px
4 pixels 1.05 % 3.41 % 0.6 px 1.2 px
5 pixels 0.80 % 2.61 % 0.6 px 1.2 px
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Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.16 % 6.04 % 0.6 px 0.8 px
3 pixels 2.65 % 3.59 % 0.6 px 0.8 px
4 pixels 2.18 % 2.87 % 0.6 px 0.8 px
5 pixels 1.78 % 2.38 % 0.6 px 0.8 px
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Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.14 % 10.10 % 0.9 px 1.8 px
3 pixels 3.42 % 6.89 % 0.9 px 1.8 px
4 pixels 2.49 % 5.60 % 0.9 px 1.8 px
5 pixels 1.91 % 4.76 % 0.9 px 1.8 px
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Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.85 % 10.27 % 1.0 px 1.9 px
3 pixels 2.46 % 7.41 % 1.0 px 1.9 px
4 pixels 1.79 % 5.75 % 1.0 px 1.9 px
5 pixels 1.49 % 4.76 % 1.0 px 1.9 px
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Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.77 % 14.18 % 1.4 px 2.0 px
3 pixels 7.29 % 9.96 % 1.4 px 2.0 px
4 pixels 5.26 % 7.43 % 1.4 px 2.0 px
5 pixels 4.14 % 5.87 % 1.4 px 2.0 px
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Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.74 % 10.13 % 0.6 px 1.0 px
3 pixels 2.67 % 6.57 % 0.6 px 1.0 px
4 pixels 1.85 % 4.91 % 0.6 px 1.0 px
5 pixels 1.30 % 3.82 % 0.6 px 1.0 px
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Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.46 % 12.30 % 0.9 px 1.5 px
3 pixels 3.53 % 7.23 % 0.9 px 1.5 px
4 pixels 2.27 % 4.76 % 0.9 px 1.5 px
5 pixels 1.60 % 3.42 % 0.9 px 1.5 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.67 % 10.84 % 1.4 px 2.5 px
3 pixels 4.19 % 8.22 % 1.4 px 2.5 px
4 pixels 3.43 % 6.94 % 1.4 px 2.5 px
5 pixels 3.17 % 6.40 % 1.4 px 2.5 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.84 % 6.88 % 0.9 px 1.5 px
3 pixels 2.86 % 5.02 % 0.9 px 1.5 px
4 pixels 2.43 % 4.17 % 0.9 px 1.5 px
5 pixels 2.20 % 3.69 % 0.9 px 1.5 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.80 % 8.36 % 0.6 px 0.9 px
3 pixels 3.23 % 6.07 % 0.6 px 0.9 px
4 pixels 2.47 % 5.08 % 0.6 px 0.9 px
5 pixels 2.05 % 4.33 % 0.6 px 0.9 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.61 % 14.84 % 0.9 px 2.2 px
3 pixels 5.31 % 11.26 % 0.9 px 2.2 px
4 pixels 4.08 % 9.06 % 0.9 px 2.2 px
5 pixels 2.89 % 7.19 % 0.9 px 2.2 px
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Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.97 % 6.02 % 0.5 px 0.7 px
3 pixels 0.81 % 3.50 % 0.5 px 0.7 px
4 pixels 0.54 % 2.10 % 0.5 px 0.7 px
5 pixels 0.37 % 0.98 % 0.5 px 0.7 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.56 % 10.73 % 0.9 px 2.1 px
3 pixels 3.97 % 8.59 % 0.9 px 2.1 px
4 pixels 3.36 % 7.38 % 0.9 px 2.1 px
5 pixels 2.92 % 6.52 % 0.9 px 2.1 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.37 % 3.79 % 0.4 px 0.5 px
3 pixels 0.67 % 1.67 % 0.4 px 0.5 px
4 pixels 0.36 % 0.57 % 0.4 px 0.5 px
5 pixels 0.25 % 0.37 % 0.4 px 0.5 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.33 % 2.56 % 0.4 px 0.6 px
3 pixels 0.78 % 1.39 % 0.4 px 0.6 px
4 pixels 0.62 % 1.14 % 0.4 px 0.6 px
5 pixels 0.44 % 0.95 % 0.4 px 0.6 px
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