Method

Robust Local Optical Flow for Feature Tracking [RLOF]
http://www.nue.tu-berlin.de/menue/forschung/projekte/rlof/

Submitted on 22 May. 2013 20:21 by
Tobias Senst (Technische Universität Berlin)

Running time:0.488 s
Environment:GPU @ 700 Mhz (C/C++) GeForce GTX 680

Method Description:
The RLOF is motivated by the problem of local motion estimation via robust regression with linear models. In order to increase the robustness of the motion estimates the estimator is based on a modified Hampel norm in combination with an adaptive integration window. The RLOF is a sparse Optical Flow method, where features to track are initialised by the FAST detector.
Parameters:
Level = 4
max. no. Iterations = 30
\Omega_L = 15x15
\Omega_S = 7x7
\sigma = (8, 50)
Confidence-Type = Forward/Backward Motion
Confidence-Threshold = 0.3
Latex Bibtex:
@ARTICLE{1349Senst2012,
AUTHOR = {Tobias Senst and Volker Eiselein and Thomas Sikora},
TITLE = {Robust Local Optical Flow for Feature Tracking},
JOURNAL = {TCSVT},
YEAR = {2012},
MONTH = sep,
PAGES = {1377--1387},
VOLUME = {22},
NUMBER = {9},
DOI = {10.1109/TCSVT.2012.2202070},
}

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 44.83 % 51.57 % 8.7 px 16.5 px
3 pixels 38.60 % 46.13 % 8.7 px 16.5 px
4 pixels 34.57 % 42.57 % 8.7 px 16.5 px
5 pixels 31.56 % 39.90 % 8.7 px 16.5 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 36.85 % 46.19 % 6.0 px 12.8 px
3 pixels 32.62 % 42.55 % 6.0 px 12.8 px
4 pixels 29.67 % 40.00 % 6.0 px 12.8 px
5 pixels 27.43 % 38.05 % 6.0 px 12.8 px
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Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 35.70 % 44.38 % 3.7 px 7.9 px
3 pixels 28.80 % 38.31 % 3.7 px 7.9 px
4 pixels 24.31 % 34.32 % 3.7 px 7.9 px
5 pixels 21.09 % 31.39 % 3.7 px 7.9 px
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Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 47.38 % 55.77 % 7.9 px 15.5 px
3 pixels 42.62 % 51.76 % 7.9 px 15.5 px
4 pixels 39.47 % 49.08 % 7.9 px 15.5 px
5 pixels 37.15 % 47.10 % 7.9 px 15.5 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 54.35 % 61.90 % 9.3 px 16.1 px
3 pixels 46.76 % 55.53 % 9.3 px 16.1 px
4 pixels 41.39 % 51.00 % 9.3 px 16.1 px
5 pixels 37.58 % 47.71 % 9.3 px 16.1 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 38.60 % 43.24 % 4.3 px 6.3 px
3 pixels 31.02 % 35.92 % 4.3 px 6.3 px
4 pixels 26.33 % 31.35 % 4.3 px 6.3 px
5 pixels 22.85 % 27.95 % 4.3 px 6.3 px
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Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 44.34 % 52.90 % 9.6 px 21.4 px
3 pixels 37.44 % 46.78 % 9.6 px 21.4 px
4 pixels 33.62 % 43.34 % 9.6 px 21.4 px
5 pixels 31.04 % 40.99 % 9.6 px 21.4 px
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Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 39.21 % 47.26 % 6.0 px 11.5 px
3 pixels 33.27 % 41.96 % 6.0 px 11.5 px
4 pixels 29.10 % 38.21 % 6.0 px 11.5 px
5 pixels 25.90 % 35.25 % 6.0 px 11.5 px
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Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 35.28 % 45.98 % 7.0 px 17.9 px
3 pixels 28.47 % 40.23 % 7.0 px 17.9 px
4 pixels 24.60 % 36.91 % 7.0 px 17.9 px
5 pixels 21.88 % 34.46 % 7.0 px 17.9 px
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Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 40.70 % 51.26 % 9.0 px 22.1 px
3 pixels 33.68 % 45.45 % 9.0 px 22.1 px
4 pixels 29.24 % 41.73 % 9.0 px 22.1 px
5 pixels 26.04 % 39.03 % 9.0 px 22.1 px
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Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 65.07 % 70.48 % 11.4 px 20.2 px
3 pixels 57.64 % 64.20 % 11.4 px 20.2 px
4 pixels 51.99 % 59.39 % 11.4 px 20.2 px
5 pixels 47.55 % 55.62 % 11.4 px 20.2 px
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Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 51.74 % 60.24 % 10.5 px 24.2 px
3 pixels 44.98 % 54.64 % 10.5 px 24.2 px
4 pixels 40.42 % 50.88 % 10.5 px 24.2 px
5 pixels 36.88 % 47.95 % 10.5 px 24.2 px
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Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 48.53 % 56.53 % 5.6 px 12.3 px
3 pixels 38.08 % 47.61 % 5.6 px 12.3 px
4 pixels 31.71 % 42.13 % 5.6 px 12.3 px
5 pixels 27.44 % 38.37 % 5.6 px 12.3 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 49.91 % 57.83 % 9.6 px 20.9 px
3 pixels 42.71 % 51.71 % 9.6 px 20.9 px
4 pixels 37.83 % 47.54 % 9.6 px 20.9 px
5 pixels 34.12 % 44.35 % 9.6 px 20.9 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 46.52 % 52.98 % 10.5 px 16.8 px
3 pixels 42.04 % 49.03 % 10.5 px 16.8 px
4 pixels 39.31 % 46.62 % 10.5 px 16.8 px
5 pixels 36.96 % 44.54 % 10.5 px 16.8 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 68.24 % 73.64 % 19.5 px 30.3 px
3 pixels 63.66 % 69.84 % 19.5 px 30.3 px
4 pixels 60.30 % 67.03 % 19.5 px 30.3 px
5 pixels 57.56 % 64.74 % 19.5 px 30.3 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 61.63 % 68.21 % 9.8 px 21.9 px
3 pixels 54.42 % 62.12 % 9.8 px 21.9 px
4 pixels 49.44 % 57.83 % 9.8 px 21.9 px
5 pixels 45.55 % 54.44 % 9.8 px 21.9 px
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Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 16.22 % 24.53 % 4.7 px 9.4 px
3 pixels 14.75 % 23.06 % 4.7 px 9.4 px
4 pixels 13.75 % 21.97 % 4.7 px 9.4 px
5 pixels 12.97 % 21.05 % 4.7 px 9.4 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 43.92 % 52.67 % 5.1 px 14.9 px
3 pixels 35.37 % 45.42 % 5.1 px 14.9 px
4 pixels 30.42 % 41.21 % 5.1 px 14.9 px
5 pixels 26.86 % 38.16 % 5.1 px 14.9 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 26.49 % 33.99 % 5.3 px 9.4 px
3 pixels 21.48 % 29.46 % 5.3 px 9.4 px
4 pixels 19.17 % 27.32 % 5.3 px 9.4 px
5 pixels 17.79 % 26.01 % 5.3 px 9.4 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 39.36 % 46.28 % 6.7 px 11.0 px
3 pixels 33.29 % 40.64 % 6.7 px 11.0 px
4 pixels 29.23 % 36.71 % 6.7 px 11.0 px
5 pixels 26.15 % 33.63 % 6.7 px 11.0 px
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