Method

Growing Correspondence Scene Flow [fl] [GCSF]
http://cmp.felk.cvut.cz/~cechj/GCSF/

Submitted on 16 Feb. 2012 18:25 by
Andreas Geiger (MPI Tübingen)

Running time:2.4 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
A simple seed growing algorithm for estimating
scene flow in a stereo setup. Two calibrated and
synchronized cameras observe a scene and output a
sequence of image pairs. The algorithm
simultaneously computes a disparity map between
the image pairs and optical flow maps between
consecutive images. This, together
with calibration data, is an equivalent
representation of the 3D scene flow, i.e. a 3D
velocity vector is associated with each
reconstructed point. The proposed method starts
from correspondence seeds and propagates these
correspondences to their neighborhood. It is
accurate for complex scenes with large motions
and
produces temporally coherent stereo disparity and
optical flow results. The algorithm is fast due to
inherent search space reduction.
Parameters:
The results have been provided by the authors using
the default parameter settings.
Latex Bibtex:
@InProceedings{Cech11,
author = {Cech, Jan and Sanchez-Riera,
Jordi and Horaud, Radu P.},
title = {Scene Flow Estimation by Growing
Correspondence Seeds},
booktitle = {CVPR},
year = {2011}
}

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 17.41 % 18.73 % 1.9 px 2.1 px
3 pixels 12.05 % 13.24 % 1.9 px 2.1 px
4 pixels 9.22 % 10.28 % 1.9 px 2.1 px
5 pixels 7.54 % 8.49 % 1.9 px 2.1 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 45.59 % 47.88 % 5.9 px 6.7 px
3 pixels 37.08 % 39.53 % 5.9 px 6.7 px
4 pixels 31.46 % 33.93 % 5.9 px 6.7 px
5 pixels 27.37 % 29.83 % 5.9 px 6.7 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.73 % 16.41 % 1.3 px 1.4 px
3 pixels 10.22 % 11.61 % 1.3 px 1.4 px
4 pixels 7.69 % 8.77 % 1.3 px 1.4 px
5 pixels 5.83 % 6.72 % 1.3 px 1.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.21 % 16.77 % 1.9 px 2.0 px
3 pixels 9.56 % 11.67 % 1.9 px 2.0 px
4 pixels 7.62 % 9.17 % 1.9 px 2.0 px
5 pixels 6.65 % 7.76 % 1.9 px 2.0 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 22.79 % 23.98 % 2.2 px 2.3 px
3 pixels 17.39 % 18.50 % 2.2 px 2.3 px
4 pixels 13.66 % 14.65 % 2.2 px 2.3 px
5 pixels 11.33 % 12.16 % 2.2 px 2.3 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.21 % 20.10 % 1.6 px 1.8 px
3 pixels 11.94 % 13.55 % 1.6 px 1.8 px
4 pixels 8.96 % 10.23 % 1.6 px 1.8 px
5 pixels 7.36 % 8.35 % 1.6 px 1.8 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.13 % 18.22 % 1.6 px 1.7 px
3 pixels 11.39 % 11.93 % 1.6 px 1.7 px
4 pixels 8.24 % 8.53 % 1.6 px 1.7 px
5 pixels 6.58 % 6.79 % 1.6 px 1.7 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.34 % 10.12 % 1.1 px 1.1 px
3 pixels 5.88 % 6.49 % 1.1 px 1.1 px
4 pixels 4.13 % 4.64 % 1.1 px 1.1 px
5 pixels 3.12 % 3.59 % 1.1 px 1.1 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.78 % 19.98 % 2.5 px 2.6 px
3 pixels 14.32 % 15.27 % 2.5 px 2.6 px
4 pixels 11.92 % 12.75 % 2.5 px 2.6 px
5 pixels 10.17 % 10.89 % 2.5 px 2.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 25.63 % 27.34 % 2.7 px 3.2 px
3 pixels 17.09 % 18.87 % 2.7 px 3.2 px
4 pixels 12.38 % 14.07 % 2.7 px 3.2 px
5 pixels 10.35 % 11.83 % 2.7 px 3.2 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.52 % 10.57 % 1.4 px 1.6 px
3 pixels 6.22 % 7.18 % 1.4 px 1.6 px
4 pixels 4.84 % 5.77 % 1.4 px 1.6 px
5 pixels 4.09 % 5.00 % 1.4 px 1.6 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 24.19 % 26.03 % 2.0 px 2.3 px
3 pixels 16.98 % 18.96 % 2.0 px 2.3 px
4 pixels 12.62 % 14.50 % 2.0 px 2.3 px
5 pixels 10.09 % 11.75 % 2.0 px 2.3 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.82 % 14.15 % 1.2 px 1.3 px
3 pixels 7.76 % 9.08 % 1.2 px 1.3 px
4 pixels 5.04 % 6.32 % 1.2 px 1.3 px
5 pixels 3.78 % 4.94 % 1.2 px 1.3 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 43.07 % 44.63 % 4.5 px 4.7 px
3 pixels 34.49 % 36.06 % 4.5 px 4.7 px
4 pixels 28.74 % 30.21 % 4.5 px 4.7 px
5 pixels 25.19 % 26.52 % 4.5 px 4.7 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.76 % 20.83 % 2.3 px 2.7 px
3 pixels 13.29 % 15.48 % 2.3 px 2.7 px
4 pixels 10.83 % 13.05 % 2.3 px 2.7 px
5 pixels 9.18 % 11.42 % 2.3 px 2.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.64 % 19.70 % 2.5 px 2.7 px
3 pixels 12.66 % 13.73 % 2.5 px 2.7 px
4 pixels 10.07 % 11.05 % 2.5 px 2.7 px
5 pixels 8.88 % 9.81 % 2.5 px 2.7 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 21.58 % 22.53 % 2.2 px 2.2 px
3 pixels 16.12 % 16.83 % 2.2 px 2.2 px
4 pixels 12.63 % 13.18 % 2.2 px 2.2 px
5 pixels 10.53 % 11.03 % 2.2 px 2.2 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.58 % 16.31 % 1.4 px 1.4 px
3 pixels 9.02 % 9.39 % 1.4 px 1.4 px
4 pixels 6.04 % 6.27 % 1.4 px 1.4 px
5 pixels 4.47 % 4.67 % 1.4 px 1.4 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.34 % 11.67 % 1.0 px 1.1 px
3 pixels 7.41 % 7.63 % 1.0 px 1.1 px
4 pixels 5.29 % 5.51 % 1.0 px 1.1 px
5 pixels 3.98 % 4.18 % 1.0 px 1.1 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.69 % 15.81 % 1.6 px 1.7 px
3 pixels 10.92 % 11.82 % 1.6 px 1.7 px
4 pixels 8.78 % 9.24 % 1.6 px 1.7 px
5 pixels 7.27 % 7.43 % 1.6 px 1.7 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 16.21 % 17.12 % 1.6 px 1.7 px
3 pixels 12.44 % 13.30 % 1.6 px 1.7 px
4 pixels 10.21 % 11.00 % 1.6 px 1.7 px
5 pixels 8.78 % 9.51 % 1.6 px 1.7 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.33 % 13.16 % 1.3 px 1.4 px
3 pixels 7.90 % 8.55 % 1.3 px 1.4 px
4 pixels 5.67 % 6.21 % 1.3 px 1.4 px
5 pixels 4.33 % 4.82 % 1.3 px 1.4 px
This table as LaTeX







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