Method

Piecewise Rigid Scene Model (IJCV-Version)[fl][mv] [PRSM]
http://www.igp.ethz.ch/photogrammetry/research/index

Submitted on 16 Apr. 2015 12:01 by
Christoph Vogel (TU Graz)

Running time:300 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
Dense 3D Scene Flow Method from stereo video.
Estimates depth and 3D motion from multiple
consecutive frames in a sliding temporal
window.
The reconstruction is not only performed wrt. a
reference frame but for all frames involved
such that the reconstruction is consistent in
all cameras and time steps.
This is essentially the former ECCV version
with some minor updates described in the IJCV
paper as local replacement strategy and
hierarchical refinement.
Parameters:
Exactly as in the code and described in the paper.
Latex Bibtex:
@article{Vogel2015IJCV,
year={2015},
issn={0920-5691},
journal= ijcv,
doi={10.1007/s11263-015-0806-0},
title={3D Scene Flow Estimation with a
Piecewise Rigid Scene Model},
publisher={Springer US},
keywords={3D scene flow; Stereo; Motion
estimation; Piecewise planarity; Piecewise
rigidity; Segmentation},
author={Vogel, Christoph and Schindler, Konrad
and Roth, Stefan},
pages={1-28},
language={English}
}

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 4.13 % 4.46 % 0.7 px 0.7 px
3 pixels 2.78 % 3.00 % 0.7 px 0.7 px
4 pixels 2.15 % 2.31 % 0.7 px 0.7 px
5 pixels 1.74 % 1.88 % 0.7 px 0.7 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.14 % 19.59 % 2.0 px 2.1 px
3 pixels 11.91 % 12.87 % 2.0 px 2.1 px
4 pixels 9.13 % 9.75 % 2.0 px 2.1 px
5 pixels 7.45 % 7.85 % 2.0 px 2.1 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.57 % 6.14 % 0.6 px 0.7 px
3 pixels 4.36 % 4.90 % 0.6 px 0.7 px
4 pixels 3.42 % 3.89 % 0.6 px 0.7 px
5 pixels 2.27 % 2.70 % 0.6 px 0.7 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.60 % 4.88 % 0.7 px 0.8 px
3 pixels 2.73 % 2.81 % 0.7 px 0.8 px
4 pixels 2.28 % 2.23 % 0.7 px 0.8 px
5 pixels 2.01 % 1.92 % 0.7 px 0.8 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.14 % 3.14 % 0.5 px 0.5 px
3 pixels 1.64 % 1.66 % 0.5 px 0.5 px
4 pixels 1.11 % 1.14 % 0.5 px 0.5 px
5 pixels 0.69 % 0.73 % 0.5 px 0.5 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.15 % 4.90 % 0.5 px 0.5 px
3 pixels 1.63 % 1.91 % 0.5 px 0.5 px
4 pixels 1.16 % 1.24 % 0.5 px 0.5 px
5 pixels 0.82 % 0.85 % 0.5 px 0.5 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.69 % 3.66 % 0.5 px 0.5 px
3 pixels 2.35 % 2.31 % 0.5 px 0.5 px
4 pixels 1.53 % 1.51 % 0.5 px 0.5 px
5 pixels 0.76 % 0.76 % 0.5 px 0.5 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.58 % 1.65 % 0.4 px 0.4 px
3 pixels 0.94 % 0.97 % 0.4 px 0.4 px
4 pixels 0.79 % 0.79 % 0.4 px 0.4 px
5 pixels 0.70 % 0.69 % 0.4 px 0.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.62 % 5.86 % 0.7 px 0.7 px
3 pixels 3.16 % 3.22 % 0.7 px 0.7 px
4 pixels 2.07 % 2.10 % 0.7 px 0.7 px
5 pixels 1.80 % 1.83 % 0.7 px 0.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.71 % 6.09 % 0.9 px 1.0 px
3 pixels 3.81 % 4.03 % 0.9 px 1.0 px
4 pixels 3.00 % 3.13 % 0.9 px 1.0 px
5 pixels 2.39 % 2.49 % 0.9 px 1.0 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.94 % 2.22 % 0.4 px 0.4 px
3 pixels 1.29 % 1.39 % 0.4 px 0.4 px
4 pixels 0.97 % 1.05 % 0.4 px 0.4 px
5 pixels 0.83 % 0.91 % 0.4 px 0.4 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.84 % 5.00 % 0.9 px 1.1 px
3 pixels 3.16 % 3.31 % 0.9 px 1.1 px
4 pixels 2.42 % 2.56 % 0.9 px 1.1 px
5 pixels 1.96 % 2.10 % 0.9 px 1.1 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.25 % 2.43 % 0.4 px 0.4 px
3 pixels 1.33 % 1.41 % 0.4 px 0.4 px
4 pixels 0.85 % 0.87 % 0.4 px 0.4 px
5 pixels 0.66 % 0.66 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.08 % 5.89 % 1.0 px 1.0 px
3 pixels 4.04 % 3.93 % 1.0 px 1.0 px
4 pixels 2.57 % 2.51 % 1.0 px 1.0 px
5 pixels 1.96 % 1.92 % 1.0 px 1.0 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.02 % 3.84 % 0.6 px 0.7 px
3 pixels 1.95 % 2.42 % 0.6 px 0.7 px
4 pixels 1.60 % 1.85 % 0.6 px 0.7 px
5 pixels 1.39 % 1.51 % 0.6 px 0.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.59 % 3.42 % 0.7 px 0.7 px
3 pixels 1.52 % 1.94 % 0.7 px 0.7 px
4 pixels 1.18 % 1.55 % 0.7 px 0.7 px
5 pixels 0.99 % 1.33 % 0.7 px 0.7 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.85 % 0.89 % 0.3 px 0.3 px
3 pixels 0.54 % 0.52 % 0.3 px 0.3 px
4 pixels 0.46 % 0.45 % 0.3 px 0.3 px
5 pixels 0.41 % 0.40 % 0.3 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.13 % 4.17 % 0.6 px 0.6 px
3 pixels 2.46 % 2.40 % 0.6 px 0.6 px
4 pixels 1.65 % 1.60 % 0.6 px 0.6 px
5 pixels 1.31 % 1.28 % 0.6 px 0.6 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.85 % 2.84 % 0.6 px 0.6 px
3 pixels 1.28 % 1.26 % 0.6 px 0.6 px
4 pixels 0.77 % 0.75 % 0.6 px 0.6 px
5 pixels 0.56 % 0.55 % 0.6 px 0.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.35 % 7.57 % 0.7 px 0.9 px
3 pixels 5.04 % 6.21 % 0.7 px 0.9 px
4 pixels 4.25 % 5.33 % 0.7 px 0.9 px
5 pixels 3.38 % 3.94 % 0.7 px 0.9 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.64 % 7.52 % 0.7 px 0.7 px
3 pixels 5.73 % 6.60 % 0.7 px 0.7 px
4 pixels 5.00 % 5.85 % 0.7 px 0.7 px
5 pixels 4.39 % 5.20 % 0.7 px 0.7 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.40 % 1.36 % 0.4 px 0.4 px
3 pixels 1.01 % 0.98 % 0.4 px 0.4 px
4 pixels 0.86 % 0.84 % 0.4 px 0.4 px
5 pixels 0.78 % 0.76 % 0.4 px 0.4 px
This table as LaTeX







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