Method

HMI-MSF: Iterating hierarchical motion interaction for self-supervised multi-frame monocular scene [HMI-MSF-base]
[Anonymous Submission]

Submitted on 23 Jul. 2026 16:47 by
[Anonymous Submission]

Running time:0.13 s
Environment:GPU @ 2.5 Ghz (Python)

Method Description:
This is the baseline of HMI-MSF.This paper proposes a
hierarchical motion interaction-
based recurrent iterative framework for self-
supervised multi-frame monocular scene flow, termed as
HMI-MSF. This framework iteratively captures and
propagates the bidirectional motion cues between
multiple frames. Therefore, it effectively alleviates
the problem of blurred scene flow details in occluded
areas.
Parameters:
5.74M
Latex Bibtex:

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 43.93 55.67 45.88 50.58 50.33 50.53 34.87 39.83 35.69 67.02 75.58 68.44
All / Est 43.93 55.67 45.88 50.58 50.33 50.53 34.87 39.83 35.69 67.02 75.58 68.44
Noc / All 43.56 55.17 45.47 43.00 47.43 43.79 25.55 36.07 27.46 60.74 73.19 62.97
Noc / Est 43.56 55.17 45.47 43.00 47.43 43.79 25.55 36.07 27.46 60.74 73.19 62.97
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 20.61 66.55 26.91 43.86 45.04 44.03 14.36 85.58 24.14 51.99 88.26 56.97
All / Est 20.61 66.55 26.91 43.86 45.04 44.03 14.36 85.58 24.14 51.99 88.26 56.97
Noc / All 20.21 66.55 26.68 37.37 45.04 38.56 10.80 85.58 22.14 45.55 88.26 52.16
Noc / Est 20.21 66.55 26.68 37.37 45.04 38.56 10.80 85.58 22.14 45.55 88.26 52.16
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 31.70 77.34 36.80 45.99 72.36 48.93 21.41 58.15 25.51 59.50 88.17 62.70
All / Est 31.70 77.34 36.80 45.99 72.36 48.93 21.41 58.15 25.51 59.50 88.17 62.70
Noc / All 31.22 77.34 36.44 41.88 72.36 45.73 16.26 58.15 21.44 53.91 88.17 58.23
Noc / Est 31.22 77.34 36.44 41.88 72.36 45.73 16.26 58.15 21.44 53.91 88.17 58.23
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 45.62 65.96 46.61 53.11 49.63 52.94 26.33 29.01 26.46 64.22 67.16 64.36
All / Est 45.62 65.96 46.61 53.11 49.63 52.94 26.33 29.01 26.46 64.22 67.16 64.36
Noc / All 44.81 65.96 45.86 43.12 49.63 43.51 19.32 29.01 19.88 55.76 67.16 56.43
Noc / Est 44.81 65.96 45.86 43.12 49.63 43.51 19.32 29.01 19.88 55.76 67.16 56.43
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 46.18 95.96 50.78 47.09 75.34 49.70 44.04 96.97 48.93 67.28 96.97 70.02
All / Est 46.18 95.96 50.78 47.09 75.34 49.70 44.04 96.97 48.93 67.28 96.97 70.02
Noc / All 45.42 95.96 50.15 37.22 67.24 39.33 31.46 95.96 37.02 58.95 94.87 61.47
Noc / Est 45.42 95.96 50.15 37.22 67.24 39.33 31.46 95.96 37.02 58.95 94.87 61.47
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 47.39 87.60 54.06 43.19 36.71 42.11 40.99 74.74 46.59 67.40 93.67 71.76
All / Est 47.39 87.60 54.06 43.19 36.71 42.11 40.99 74.74 46.59 67.40 93.67 71.76
Noc / All 46.86 87.60 53.73 34.25 31.00 33.69 30.82 74.20 38.93 60.36 92.65 65.93
Noc / Est 46.86 87.60 53.73 34.25 31.00 33.69 30.82 74.20 38.93 60.36 92.65 65.93
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 38.26 58.33 40.07 40.90 58.33 42.47 19.23 0.00 17.50 57.64 58.64 57.73
All / Est 38.26 58.33 40.07 40.90 58.33 42.47 19.23 0.00 17.50 57.64 58.64 57.73
Noc / All 37.03 58.33 38.99 35.12 58.33 37.58 11.24 0.00 10.09 50.24 58.64 51.13
Noc / Est 37.03 58.33 38.99 35.12 58.33 37.58 11.24 0.00 10.09 50.24 58.64 51.13
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 44.59 38.34 43.93 36.94 31.23 36.33 25.02 1.30 22.52 61.73 39.22 59.35
All / Est 44.59 38.34 43.93 36.94 31.23 36.33 25.02 1.30 22.52 61.73 39.22 59.35
Noc / All 44.07 38.34 43.46 31.37 31.23 31.35 18.78 1.30 16.70 56.29 39.22 54.21
Noc / Est 44.07 38.34 43.46 31.37 31.23 31.35 18.78 1.30 16.70 56.29 39.22 54.21
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 32.16 81.15 41.75 32.14 81.28 41.76 9.31 99.23 26.91 37.93 100.00 50.07
All / Est 32.16 81.15 41.75 32.14 81.28 41.76 9.31 99.23 26.91 37.93 100.00 50.07
Noc / All 31.06 81.15 40.99 31.03 85.79 41.40 9.31 99.19 26.12 36.91 100.00 48.86
Noc / Est 31.06 81.15 40.99 31.03 85.79 41.40 9.31 99.19 26.12 36.91 100.00 48.86
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 20.69 69.14 29.64 20.72 68.43 29.53 14.12 89.60 28.06 31.37 90.31 42.25
All / Est 20.69 69.14 29.64 20.72 68.43 29.53 14.12 89.60 28.06 31.37 90.31 42.25
Noc / All 20.67 69.14 29.63 20.70 68.43 29.52 14.12 89.60 28.06 31.35 90.31 42.25
Noc / Est 20.67 69.14 29.63 20.70 68.43 29.52 14.12 89.60 28.06 31.35 90.31 42.25
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 35.92 86.55 48.85 35.91 86.87 48.93 14.71 80.72 31.58 44.96 100.00 59.02
All / Est 35.92 86.55 48.85 35.91 86.87 48.93 14.71 80.72 31.58 44.96 100.00 59.02
Noc / All 35.12 85.89 47.77 35.12 86.22 47.84 14.71 80.72 31.58 44.27 100.00 58.14
Noc / Est 35.12 85.89 47.77 35.12 86.22 47.84 14.71 80.72 31.58 44.27 100.00 58.14
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 23.10 79.01 35.87 33.21 51.02 37.27 31.10 64.17 38.65 50.83 87.39 59.18
All / Est 23.10 79.01 35.87 33.21 51.02 37.27 31.10 64.17 38.65 50.83 87.39 59.18
Noc / All 22.62 79.01 35.64 22.62 52.26 30.15 20.51 64.17 31.86 41.32 86.73 52.85
Noc / Est 22.62 79.01 35.64 22.62 52.26 30.15 20.51 64.17 31.86 41.32 86.73 52.85
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 20.01 83.79 31.46 50.71 15.75 44.43 19.15 50.59 24.80 60.45 86.66 65.15
All / Est 20.01 83.79 31.46 50.71 15.75 44.43 19.15 50.59 24.80 60.45 86.66 65.15
Noc / All 19.33 83.79 30.99 44.45 17.12 39.24 11.76 50.53 19.56 53.79 85.50 59.83
Noc / Est 19.33 83.79 30.99 44.45 17.12 39.24 11.76 50.53 19.56 53.79 85.50 59.83
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 33.91 76.98 36.81 43.89 3.04 41.13 37.38 10.50 35.57 67.22 84.68 68.39
All / Est 33.91 76.98 36.81 43.89 3.04 41.13 37.38 10.50 35.57 67.22 84.68 68.39
Noc / All 33.28 76.98 36.25 35.93 3.04 33.27 26.23 10.50 24.98 60.28 84.68 62.26
Noc / Est 33.28 76.98 36.25 35.93 3.04 33.27 26.23 10.50 24.98 60.28 84.68 62.26
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 36.95 96.50 44.26 42.22 15.68 38.96 28.19 71.29 33.48 63.57 100.00 68.05
All / Est 36.95 96.50 44.26 42.22 15.68 38.96 28.19 71.29 33.48 63.57 100.00 68.05
Noc / All 36.39 96.50 43.84 32.57 5.41 29.94 14.87 63.13 20.49 55.44 100.00 59.75
Noc / Est 36.39 96.50 43.84 32.57 5.41 29.94 14.87 63.13 20.49 55.44 100.00 59.75
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 28.24 96.18 29.42 58.19 94.21 58.81 33.26 14.78 32.94 67.29 100.00 67.85
All / Est 28.24 96.18 29.42 58.19 94.21 58.81 33.26 14.78 32.94 67.29 100.00 67.85
Noc / All 27.53 96.18 28.73 50.39 94.21 51.32 20.27 14.78 20.16 60.14 100.00 60.98
Noc / Est 27.53 96.18 28.73 50.39 94.21 51.32 20.27 14.78 20.16 60.14 100.00 60.98
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 45.08 71.76 47.49 59.83 19.79 56.21 60.37 29.08 57.53 79.71 81.15 79.84
All / Est 45.08 71.76 47.49 59.83 19.79 56.21 60.37 29.08 57.53 79.71 81.15 79.84
Noc / All 44.79 71.76 47.28 49.96 19.79 46.41 48.95 29.08 46.67 73.94 81.15 74.78
Noc / Est 44.79 71.76 47.28 49.96 19.79 46.41 48.95 29.08 46.67 73.94 81.15 74.78
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 49.14 98.28 56.37 71.34 87.02 73.65 58.27 97.58 64.06 83.60 100.00 86.02
All / Est 49.14 98.28 56.37 71.34 87.02 73.65 58.27 97.58 64.06 83.60 100.00 86.02
Noc / All 49.21 98.28 56.50 63.83 87.02 68.12 47.00 97.58 56.10 78.43 100.00 82.42
Noc / Est 49.21 98.28 56.50 63.83 87.02 68.12 47.00 97.58 56.10 78.43 100.00 82.42
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 74.80 85.21 75.89 54.92 5.68 49.79 57.00 67.89 58.14 86.05 87.65 86.21
All / Est 74.80 85.21 75.89 54.92 5.68 49.79 57.00 67.89 58.14 86.05 87.65 86.21
Noc / All 75.49 85.21 76.52 44.84 5.68 39.67 45.21 67.89 48.14 82.11 87.65 82.84
Noc / Est 75.49 85.21 76.52 44.84 5.68 39.67 45.21 67.89 48.14 82.11 87.65 82.84
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 60.22 97.59 77.98 49.69 99.98 73.58 48.19 100.00 72.81 81.98 100.00 90.54
All / Est 60.22 97.59 77.98 49.69 99.98 73.58 48.19 100.00 72.81 81.98 100.00 90.54
Noc / All 60.89 97.59 78.49 33.66 99.90 47.60 30.74 100.00 49.85 75.98 100.00 81.03
Noc / Est 60.89 97.59 78.49 33.66 99.90 47.60 30.74 100.00 49.85 75.98 100.00 81.03
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 37.45 88.23 43.19 50.38 20.98 47.05 52.72 86.14 56.51 71.84 91.55 74.07
All / Est 37.45 88.23 43.19 50.38 20.98 47.05 52.72 86.14 56.51 71.84 91.55 74.07
Noc / All 37.92 88.23 43.70 36.18 20.98 33.94 37.53 86.14 44.57 61.94 91.55 66.30
Noc / Est 37.92 88.23 43.70 36.18 20.98 33.94 37.53 86.14 44.57 61.94 91.55 66.30
This table as LaTeX

Input Image

D1 Result

D1 Error

D2 Result

D2 Error

Flow Result

Flow Error

Scene Flow Error




eXTReMe Tracker