Method

Particle Convex Belief Propagation for Flow [ms] [PCBP-Flow]


Submitted on 30 Mar. 2013 01:25 by
Koichiro Yamaguchi (TTI-Chicago)

Running time:3 min
Environment:4 cores @ 2.5 Ghz (Matlab + C/C++)

Method Description:
Slanted-plane MRF model for epipolar flow estimation. For a good
over-segmentation of the image, an efficient flow-aware
segmentation algorithm, MotionSLIC, is applied.
This method assumes that the scene is static.
Parameters:
400 superpixels
Latex Bibtex:
@INPROCEEDINGS{Yamaguchi13,
author = {Koichiro Yamaguchi and David McAllester and Raquel
Urtasun},
title = {Robust Monocular Epipolar Flow Estimation},
booktitle = {CVPR},
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 5.28 % 10.62 % 0.9 px 2.2 px
3 pixels 3.64 % 8.28 % 0.9 px 2.2 px
4 pixels 2.90 % 7.01 % 0.9 px 2.2 px
5 pixels 2.46 % 6.16 % 0.9 px 2.2 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 5.45 % 9.98 % 0.7 px 1.3 px
3 pixels 3.57 % 7.07 % 0.7 px 1.3 px
4 pixels 2.87 % 5.71 % 0.7 px 1.3 px
5 pixels 2.35 % 4.88 % 0.7 px 1.3 px
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Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.36 % 9.14 % 0.6 px 1.0 px
3 pixels 3.14 % 6.84 % 0.6 px 1.0 px
4 pixels 1.94 % 5.14 % 0.6 px 1.0 px
5 pixels 1.51 % 4.46 % 0.6 px 1.0 px
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Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.01 % 11.86 % 0.6 px 1.5 px
3 pixels 3.35 % 9.33 % 0.6 px 1.5 px
4 pixels 2.51 % 7.88 % 0.6 px 1.5 px
5 pixels 2.02 % 6.87 % 0.6 px 1.5 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.22 % 9.04 % 0.6 px 1.3 px
3 pixels 2.60 % 7.01 % 0.6 px 1.3 px
4 pixels 1.75 % 5.73 % 0.6 px 1.3 px
5 pixels 1.25 % 4.52 % 0.6 px 1.3 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.15 % 2.75 % 0.5 px 0.5 px
3 pixels 1.43 % 1.53 % 0.5 px 0.5 px
4 pixels 0.88 % 0.90 % 0.5 px 0.5 px
5 pixels 0.39 % 0.42 % 0.5 px 0.5 px
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Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.98 % 7.83 % 0.7 px 3.2 px
3 pixels 1.97 % 6.55 % 0.7 px 3.2 px
4 pixels 1.68 % 6.07 % 0.7 px 3.2 px
5 pixels 1.48 % 5.73 % 0.7 px 3.2 px
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Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.35 % 9.04 % 0.6 px 1.1 px
3 pixels 2.47 % 6.49 % 0.6 px 1.1 px
4 pixels 1.76 % 5.04 % 0.6 px 1.1 px
5 pixels 1.44 % 4.01 % 0.6 px 1.1 px
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Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.84 % 15.29 % 1.2 px 2.7 px
3 pixels 5.41 % 12.80 % 1.2 px 2.7 px
4 pixels 4.09 % 11.22 % 1.2 px 2.7 px
5 pixels 3.18 % 9.97 % 1.2 px 2.7 px
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Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.17 % 13.20 % 0.7 px 3.3 px
3 pixels 2.77 % 11.08 % 0.7 px 3.3 px
4 pixels 2.30 % 10.17 % 0.7 px 3.3 px
5 pixels 1.89 % 9.47 % 0.7 px 3.3 px
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Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.82 % 16.93 % 1.0 px 2.9 px
3 pixels 5.92 % 12.85 % 1.0 px 2.9 px
4 pixels 3.99 % 9.95 % 1.0 px 2.9 px
5 pixels 2.91 % 8.35 % 1.0 px 2.9 px
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Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.98 % 14.64 % 0.6 px 3.6 px
3 pixels 2.38 % 12.58 % 0.6 px 3.6 px
4 pixels 1.83 % 11.57 % 0.6 px 3.6 px
5 pixels 1.46 % 10.84 % 0.6 px 3.6 px
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Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.23 % 9.89 % 0.8 px 2.3 px
3 pixels 3.16 % 6.70 % 0.8 px 2.3 px
4 pixels 2.32 % 5.30 % 0.8 px 2.3 px
5 pixels 1.86 % 4.44 % 0.8 px 2.3 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.55 % 12.52 % 1.5 px 2.5 px
3 pixels 5.69 % 11.25 % 1.5 px 2.5 px
4 pixels 4.95 % 9.92 % 1.5 px 2.5 px
5 pixels 4.67 % 9.01 % 1.5 px 2.5 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.43 % 10.61 % 0.9 px 2.4 px
3 pixels 4.55 % 9.25 % 0.9 px 2.4 px
4 pixels 3.95 % 8.31 % 0.9 px 2.4 px
5 pixels 3.41 % 7.41 % 0.9 px 2.4 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.10 % 9.90 % 0.5 px 0.9 px
3 pixels 1.71 % 7.20 % 0.5 px 0.9 px
4 pixels 1.06 % 5.69 % 0.5 px 0.9 px
5 pixels 0.90 % 4.65 % 0.5 px 0.9 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.35 % 15.09 % 0.9 px 3.1 px
3 pixels 5.78 % 12.28 % 0.9 px 3.1 px
4 pixels 4.73 % 10.35 % 0.9 px 3.1 px
5 pixels 3.83 % 8.82 % 0.9 px 3.1 px
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Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.32 % 7.09 % 0.5 px 0.8 px
3 pixels 1.03 % 5.05 % 0.5 px 0.8 px
4 pixels 0.60 % 4.00 % 0.5 px 0.8 px
5 pixels 0.46 % 3.29 % 0.5 px 0.8 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.39 % 12.16 % 0.9 px 3.2 px
3 pixels 4.48 % 9.83 % 0.9 px 3.2 px
4 pixels 3.92 % 9.05 % 0.9 px 3.2 px
5 pixels 3.63 % 8.67 % 0.9 px 3.2 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.66 % 3.08 % 0.3 px 0.4 px
3 pixels 0.28 % 1.88 % 0.3 px 0.4 px
4 pixels 0.22 % 1.42 % 0.3 px 0.4 px
5 pixels 0.13 % 0.97 % 0.3 px 0.4 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.13 % 3.44 % 0.4 px 0.6 px
3 pixels 1.32 % 2.22 % 0.4 px 0.6 px
4 pixels 1.12 % 1.81 % 0.4 px 0.6 px
5 pixels 0.82 % 1.34 % 0.4 px 0.6 px
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