Method

Second Order Total Generalized Variation with Census Transform Data Matching [TGV2CENSUS]
http://gpu4vision.icg.tugraz.at/index.php?content=subsites/flowlib/flowlib.php

Submitted on 28 Mar. 2012 16:25 by
Manuel Werlberger (Graz University of Technology)

Running time:4 s
Environment:GPU+CPU @ 3.0 Ghz (Matlab + C/C++)

Method Description:
Variational optical flow model with a second order
total generalized variation as regularization term.
For improving robustness towards illumination
changes we utilize the Census transform as data
matching term. The approach is very similar to "Pushing the Limits of Stereo Using Variational Stereo Estimation", which has been submitted to the stereo benchmark.
Parameters:
\lambda=5
\alpha_0=4
\alpha_1=1
30 warps with 40 iteration each
scale factor for coarse-to-fine pyramid is 0.8
(census) window radius is 3x3
Latex Bibtex:
@phdthesis{Werlberger2012,
author = {Manuel Werlberger},
school = {Graz University of Technology},
title = {{Convex Approaches for High Performance
Video Processing}},
type = {phdthesis},
year = {2012},
note = {to appear}
}
@inproceedings{Ranftl2012,
author = {Rene Ranftl and Stefan Gehrig and Thomas Pock and Horst Bischof},
title = {{Pushing the Limits of Stereo Using Variational Stereo Estimation}},
booktitle = {IV},
year = {2012},
note = {to appear}
}

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 12.84 % 20.73 % 2.9 px 6.6 px
3 pixels 11.03 % 18.37 % 2.9 px 6.6 px
4 pixels 9.97 % 16.87 % 2.9 px 6.6 px
5 pixels 9.20 % 15.73 % 2.9 px 6.6 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 19.81 % 27.45 % 4.0 px 6.7 px
3 pixels 17.92 % 25.04 % 4.0 px 6.7 px
4 pixels 16.76 % 23.61 % 4.0 px 6.7 px
5 pixels 15.73 % 22.44 % 4.0 px 6.7 px
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Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.88 % 11.13 % 0.8 px 1.4 px
3 pixels 4.47 % 9.18 % 0.8 px 1.4 px
4 pixels 3.69 % 7.98 % 0.8 px 1.4 px
5 pixels 3.05 % 7.05 % 0.8 px 1.4 px
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Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.55 % 20.02 % 0.8 px 2.3 px
3 pixels 7.07 % 15.80 % 0.8 px 2.3 px
4 pixels 4.76 % 13.09 % 0.8 px 2.3 px
5 pixels 3.13 % 11.10 % 0.8 px 2.3 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.11 % 23.50 % 2.3 px 4.8 px
3 pixels 11.65 % 20.01 % 2.3 px 4.8 px
4 pixels 9.72 % 16.67 % 2.3 px 4.8 px
5 pixels 8.37 % 15.18 % 2.3 px 4.8 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.18 % 7.90 % 0.7 px 1.1 px
3 pixels 3.68 % 6.04 % 0.7 px 1.1 px
4 pixels 2.86 % 5.00 % 0.7 px 1.1 px
5 pixels 2.60 % 4.60 % 0.7 px 1.1 px
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Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.57 % 22.27 % 2.3 px 6.9 px
3 pixels 11.03 % 19.53 % 2.3 px 6.9 px
4 pixels 10.22 % 17.76 % 2.3 px 6.9 px
5 pixels 9.62 % 16.56 % 2.3 px 6.9 px
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Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.08 % 14.01 % 1.2 px 2.8 px
3 pixels 6.14 % 11.22 % 1.2 px 2.8 px
4 pixels 5.09 % 9.82 % 1.2 px 2.8 px
5 pixels 4.38 % 9.01 % 1.2 px 2.8 px
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Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.08 % 22.16 % 5.6 px 12.4 px
3 pixels 12.22 % 19.06 % 5.6 px 12.4 px
4 pixels 11.10 % 17.56 % 5.6 px 12.4 px
5 pixels 10.44 % 16.79 % 5.6 px 12.4 px
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Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.48 % 30.91 % 5.1 px 14.1 px
3 pixels 16.23 % 29.27 % 5.1 px 14.1 px
4 pixels 15.53 % 28.08 % 5.1 px 14.1 px
5 pixels 15.02 % 26.99 % 5.1 px 14.1 px
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Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.96 % 27.11 % 3.5 px 7.4 px
3 pixels 14.89 % 23.09 % 3.5 px 7.4 px
4 pixels 12.83 % 20.43 % 3.5 px 7.4 px
5 pixels 11.07 % 18.51 % 3.5 px 7.4 px
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Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.07 % 24.91 % 2.3 px 11.1 px
3 pixels 10.38 % 22.67 % 2.3 px 11.1 px
4 pixels 9.38 % 21.36 % 2.3 px 11.1 px
5 pixels 8.55 % 20.23 % 2.3 px 11.1 px
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Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.81 % 19.88 % 1.3 px 3.8 px
3 pixels 6.15 % 14.91 % 1.3 px 3.8 px
4 pixels 4.61 % 11.86 % 1.3 px 3.8 px
5 pixels 3.80 % 9.68 % 1.3 px 3.8 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.90 % 24.02 % 2.7 px 5.6 px
3 pixels 10.56 % 21.23 % 2.7 px 5.6 px
4 pixels 9.67 % 19.02 % 2.7 px 5.6 px
5 pixels 8.83 % 16.92 % 2.7 px 5.6 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.25 % 22.67 % 3.9 px 6.7 px
3 pixels 12.00 % 19.85 % 3.9 px 6.7 px
4 pixels 10.93 % 18.06 % 3.9 px 6.7 px
5 pixels 10.38 % 16.77 % 3.9 px 6.7 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 28.67 % 37.69 % 7.9 px 14.7 px
3 pixels 26.76 % 35.62 % 7.9 px 14.7 px
4 pixels 25.58 % 34.33 % 7.9 px 14.7 px
5 pixels 24.55 % 33.26 % 7.9 px 14.7 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.04 % 28.41 % 1.8 px 7.7 px
3 pixels 11.43 % 24.70 % 1.8 px 7.7 px
4 pixels 9.56 % 22.32 % 1.8 px 7.7 px
5 pixels 7.98 % 20.17 % 1.8 px 7.7 px
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Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.96 % 6.09 % 0.5 px 0.8 px
3 pixels 0.95 % 4.13 % 0.5 px 0.8 px
4 pixels 0.62 % 3.11 % 0.5 px 0.8 px
5 pixels 0.46 % 2.47 % 0.5 px 0.8 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.28 % 22.69 % 1.5 px 5.0 px
3 pixels 9.99 % 19.49 % 1.5 px 5.0 px
4 pixels 8.66 % 17.33 % 1.5 px 5.0 px
5 pixels 7.55 % 15.78 % 1.5 px 5.0 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.43 % 6.91 % 0.4 px 1.6 px
3 pixels 1.02 % 6.28 % 0.4 px 1.6 px
4 pixels 0.91 % 5.84 % 0.4 px 1.6 px
5 pixels 0.78 % 5.44 % 0.4 px 1.6 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.09 % 8.05 % 0.7 px 1.3 px
3 pixels 3.49 % 7.05 % 0.7 px 1.3 px
4 pixels 3.07 % 6.24 % 0.7 px 1.3 px
5 pixels 2.83 % 5.65 % 0.7 px 1.3 px
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