Method

SceneFlowFields [SceneFFields]


Submitted on 23 Aug. 2017 15:03 by
René Schuster (DFKI)

Running time:65 s
Environment:4 cores @ 3.7 Ghz (C/C++)

Method Description:
While most scene flow methods use either variational optimization or a strong rigid motion assumption, we show for the first time that scene flow can also be estimated by dense interpolation of sparse matches. To this end, we find sparse matches across two stereo image pairs that are detected without any prior regularization and perform dense interpolation preserving geometric and motion boundaries by using edge information. A few iterations of variational energy minimization are performed to refine our results, which are thoroughly evaluated on the KITTI benchmark and additionally compared to state-of-the-art on MPI Sintel. For application in an automotive context, we further show that an optional ego-motion model helps to boost performance and blends smoothly into our approach to produce a segmentation of the scene into static and dynamic parts.
Parameters:
As in the paper.
Latex Bibtex:
@inproceedings{schuster2018sceneflowfields,
author = {Schuster, René and Wasenmüller, Oliver and Kuschk, Georg and Bailer, Christian and Stricker, Didier},
title = {SceneFlowFields: Dense Interpolation of Sparse Scene Flow Correspondences},
booktitle = {IEEE Winter Conference on Applications of Computer Vision (WACV)},
year = {2018}
}

Detailed Results

This page provides detailed results for the method(s) selected. For the first 20 test images, the percentage of erroneous pixels is depicted in the table. We use the error metric described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), which considers a pixel to be correctly estimated if the disparity or flow end-point error is <3px or <5% (for scene flow this criterion needs to be fulfilled for both disparity maps and the flow map). Underneath, the left input image, the estimated results and the error maps are shown (for disp_0/disp_1/flow/scene_flow, respectively). The error map uses the log-color scale described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), depicting correct estimates (<3px or <5% error) in blue and wrong estimates in red color tones. Dark regions in the error images denote the occluded pixels which fall outside the image boundaries. The false color maps of the results are scaled to the largest ground truth disparity values / flow magnitudes.

Test Set Average

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 5.12 13.83 6.57 8.47 21.83 10.69 10.58 24.41 12.88 12.48 32.28 15.78
All / Est 5.12 13.83 6.57 7.79 21.52 10.08 10.58 24.41 12.88 12.48 32.28 15.78
Noc / All 4.77 12.66 6.08 6.94 17.61 8.85 8.29 19.85 10.39 10.04 26.51 12.99
Noc / Est 4.77 12.66 6.08 6.10 17.25 8.11 8.29 19.85 10.39 10.04 26.51 12.99
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 5.18 2.43 4.81 5.48 3.08 5.15 3.08 22.68 5.77 6.24 22.72 8.50
All / Est 5.18 2.43 4.81 5.48 3.08 5.15 3.08 22.68 5.77 6.24 22.72 8.50
Noc / All 5.22 2.43 4.83 6.02 3.08 5.57 3.25 22.68 6.20 6.89 22.72 9.34
Noc / Est 5.22 2.43 4.83 6.02 3.08 5.57 3.25 22.68 6.20 6.89 22.72 9.34
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 1

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 4.23 13.63 5.28 4.77 7.98 5.12 3.47 23.66 5.72 5.82 26.91 8.18
All / Est 4.23 13.63 5.28 4.77 7.98 5.12 3.47 23.66 5.72 5.82 26.91 8.18
Noc / All 4.08 13.63 5.16 4.75 7.98 5.16 3.15 23.66 5.68 5.41 26.91 8.12
Noc / Est 4.08 13.63 5.16 4.75 7.98 5.16 3.15 23.66 5.68 5.41 26.91 8.12
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 2

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 5.60 9.95 5.81 7.51 12.18 7.74 6.81 37.25 8.29 8.17 37.85 9.62
All / Est 5.60 9.95 5.81 7.51 12.18 7.74 6.81 37.25 8.29 8.17 37.85 9.62
Noc / All 5.11 9.95 5.35 5.78 12.18 6.16 4.96 37.25 6.84 6.24 37.85 8.12
Noc / Est 5.11 9.95 5.35 5.78 12.18 6.16 4.96 37.25 6.84 6.24 37.85 8.12
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 3

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 8.16 27.48 9.95 9.83 67.58 15.17 13.81 93.73 21.20 14.98 93.96 22.28
All / Est 8.16 27.48 9.95 9.83 67.58 15.17 13.81 93.73 21.20 14.98 93.96 22.28
Noc / All 7.89 27.48 9.73 8.71 47.91 11.47 11.89 91.63 18.76 12.57 89.78 17.99
Noc / Est 7.89 27.48 9.73 8.71 47.91 11.47 11.89 91.63 18.76 12.57 89.78 17.99
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 4

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 7.82 12.75 8.64 9.07 9.56 9.15 16.76 21.62 17.57 17.69 23.82 18.70
All / Est 7.82 12.75 8.64 9.07 9.56 9.15 16.76 21.62 17.57 17.69 23.82 18.70
Noc / All 6.95 12.75 7.93 9.13 4.86 8.39 12.82 20.69 14.29 13.56 20.55 14.76
Noc / Est 6.95 12.75 7.93 9.13 4.86 8.39 12.82 20.69 14.29 13.56 20.55 14.76
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 5

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 9.99 4.97 9.54 11.27 4.62 10.68 7.94 3.63 7.55 11.72 8.28 11.41
All / Est 9.99 4.97 9.54 11.27 4.62 10.68 7.94 3.63 7.55 11.72 8.28 11.41
Noc / All 9.24 4.97 8.84 9.91 4.62 9.35 6.78 3.63 6.46 10.37 8.28 10.15
Noc / Est 9.24 4.97 8.84 9.91 4.62 9.35 6.78 3.63 6.46 10.37 8.28 10.15
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 6

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 8.46 2.99 7.88 9.27 4.28 8.75 6.94 3.51 6.58 9.57 6.17 9.21
All / Est 8.46 2.99 7.88 9.27 4.28 8.75 6.94 3.51 6.58 9.57 6.17 9.21
Noc / All 8.26 2.99 7.69 7.02 4.28 6.69 4.71 3.51 4.56 7.14 6.17 7.02
Noc / Est 8.26 2.99 7.69 7.02 4.28 6.69 4.71 3.51 4.56 7.14 6.17 7.02
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 7

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.66 17.69 5.60 2.66 17.66 5.59 0.00 100.00 19.57 2.66 100.00 21.71
All / Est 2.66 17.69 5.60 2.66 17.66 5.59 0.00 100.00 19.57 2.66 100.00 21.71
Noc / All 2.67 17.69 5.64 2.67 18.65 5.70 0.00 100.00 18.70 2.67 100.00 21.11
Noc / Est 2.67 17.69 5.64 2.67 18.65 5.70 0.00 100.00 18.70 2.67 100.00 21.11
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 8

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.88 2.77 2.86 2.90 4.05 3.11 0.37 6.62 1.52 3.17 7.88 4.04
All / Est 2.88 2.77 2.86 2.90 4.05 3.11 0.37 6.62 1.52 3.17 7.88 4.04
Noc / All 2.87 2.77 2.85 2.89 4.05 3.11 0.37 6.62 1.52 3.17 7.88 4.04
Noc / Est 2.87 2.77 2.85 2.89 4.05 3.11 0.37 6.62 1.52 3.17 7.88 4.04
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 9

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.42 6.92 3.57 2.42 5.02 3.09 0.13 69.87 17.95 2.54 71.99 20.28
All / Est 2.42 6.92 3.57 2.42 5.02 3.09 0.13 69.87 17.95 2.54 71.99 20.28
Noc / All 2.45 5.26 3.15 2.46 5.16 3.13 0.13 69.87 17.95 2.58 73.43 20.21
Noc / Est 2.45 5.26 3.15 2.46 5.16 3.13 0.13 69.87 17.95 2.58 73.43 20.21
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 10

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 3.00 4.28 3.29 4.98 5.81 5.17 3.85 13.28 6.00 6.70 13.71 8.30
All / Est 3.00 4.28 3.29 4.98 5.81 5.17 3.85 13.28 6.00 6.70 13.71 8.30
Noc / All 3.03 4.28 3.32 4.91 4.52 4.81 3.50 13.28 6.04 5.88 12.23 7.49
Noc / Est 3.03 4.28 3.32 4.91 4.52 4.81 3.50 13.28 6.04 5.88 12.23 7.49
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 11

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.84 2.76 2.83 3.43 7.29 4.12 4.11 15.06 6.07 4.92 15.70 6.86
All / Est 2.84 2.76 2.83 3.43 7.29 4.12 4.11 15.06 6.07 4.92 15.70 6.86
Noc / All 2.85 2.76 2.83 3.83 5.52 4.16 4.20 15.03 6.38 5.07 14.25 6.82
Noc / Est 2.85 2.76 2.83 3.83 5.52 4.16 4.20 15.03 6.38 5.07 14.25 6.82
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 12

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 1.15 3.08 1.28 3.39 3.29 3.38 5.54 5.50 5.54 5.87 5.86 5.87
All / Est 1.15 3.08 1.28 3.39 3.29 3.38 5.54 5.50 5.54 5.87 5.86 5.87
Noc / All 1.10 3.08 1.24 1.97 3.29 2.08 3.76 5.50 3.90 3.92 5.86 4.07
Noc / Est 1.10 3.08 1.24 1.97 3.29 2.08 3.76 5.50 3.90 3.92 5.86 4.07
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 13

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 1.88 3.67 2.10 2.63 20.46 4.82 4.29 37.90 8.42 4.39 39.25 8.67
All / Est 1.88 3.67 2.10 2.63 20.46 4.82 4.29 37.90 8.42 4.39 39.25 8.67
Noc / All 1.74 3.67 1.98 1.55 2.07 1.60 3.00 21.69 5.18 3.02 15.78 4.25
Noc / Est 1.74 3.67 1.98 1.55 2.07 1.60 3.00 21.69 5.18 3.02 15.78 4.25
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 14

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 1.89 5.40 1.95 2.82 5.62 2.86 5.02 8.71 5.09 5.52 9.27 5.58
All / Est 1.89 5.40 1.95 2.82 5.62 2.86 5.02 8.71 5.09 5.52 9.27 5.58
Noc / All 1.81 5.40 1.87 1.94 5.62 2.02 3.84 8.71 3.94 3.87 9.27 3.99
Noc / Est 1.81 5.40 1.87 1.94 5.62 2.02 3.84 8.71 3.94 3.87 9.27 3.99
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 15

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 7.74 2.60 7.28 12.73 4.03 11.94 15.74 11.47 15.35 17.11 11.89 16.64
All / Est 7.74 2.60 7.28 12.73 4.03 11.94 15.74 11.47 15.35 17.11 11.89 16.64
Noc / All 7.83 2.60 7.35 10.46 4.03 9.70 12.54 11.47 12.42 14.19 11.89 13.92
Noc / Est 7.83 2.60 7.35 10.46 4.03 9.70 12.54 11.47 12.42 14.19 11.89 13.92
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 16

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 9.15 2.43 8.16 15.06 20.58 15.87 16.78 39.25 20.09 17.87 46.45 22.08
All / Est 9.15 2.43 8.16 15.05 20.58 15.86 16.78 39.25 20.09 17.87 46.45 22.08
Noc / All 8.44 2.43 7.54 10.21 20.58 12.13 12.09 39.25 16.97 12.91 46.45 19.12
Noc / Est 8.44 2.43 7.54 10.21 20.58 12.13 12.09 39.25 16.97 12.91 46.45 19.12
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 17

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 2.09 1.63 2.04 4.81 26.96 7.12 8.59 36.59 11.51 10.04 38.74 13.03
All / Est 2.09 1.63 2.04 4.81 26.96 7.12 8.59 36.59 11.51 10.04 38.74 13.03
Noc / All 1.97 1.63 1.93 4.16 26.96 7.17 6.62 36.59 10.50 7.99 38.74 12.05
Noc / Est 1.97 1.63 1.93 4.16 26.96 7.17 6.62 36.59 10.50 7.99 38.74 12.05
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 18

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 10.53 13.41 11.90 15.28 99.66 55.37 17.12 100.00 56.49 18.17 100.00 57.05
All / Est 10.53 13.41 11.90 15.28 99.66 55.37 17.12 100.00 56.49 18.17 100.00 57.05
Noc / All 10.53 13.41 11.91 11.36 98.42 29.67 13.44 100.00 37.31 14.24 100.00 32.28
Noc / Est 10.53 13.41 11.91 11.36 98.42 29.67 13.44 100.00 37.31 14.24 100.00 32.28
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error


Test Image 19

Error D1-bg D1-fg D1-all D2-bg D2-fg D2-all Fl-bg Fl-fg Fl-all SF-bg SF-fg SF-all
All / All 4.53 3.91 4.46 6.99 9.91 7.32 13.17 30.16 15.09 13.70 31.80 15.75
All / Est 4.53 3.91 4.46 6.99 9.91 7.32 13.17 30.16 15.09 13.70 31.80 15.75
Noc / All 4.56 3.91 4.48 6.80 9.91 7.25 10.07 30.16 12.98 10.58 31.80 13.70
Noc / Est 4.56 3.91 4.48 6.80 9.91 7.25 10.07 30.16 12.98 10.58 31.80 13.70
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error




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