Method

Semantic Scene Flow [SSF]


Submitted on 17 Mar. 2017 19:29 by
Zhile Ren (Brown University)

Running time:5 min
Environment:1 core @ 2.5 Ghz (Matlab + C/C++)

Method Description:
Given two consecutive frames from a pair of
stereo cameras, 3D scene flow methods
simultaneously estimate the
3D geometry and motion of the observed scene.
Many existing approaches use superpixels for
regularization, but may predict inconsistent
shapes and motions inside rigidly moving objects.
We instead assume that scenes consist of
foreground objects rigidly moving in front of a
static background, and use semantic cues to
produce pixel-accurate scene flow estimates. Our
cascaded classification framework accurately
models 3D scenes by iteratively refining semantic
segmentation masks, stereo correspondences, 3D
rigid motion estimates, and optical flow fields.
We evaluate our method on the challenging KITTI
autonomous driving benchmark, and show that
accounting for the motion of segmented vehicles
leads to state-of-the-art performance.
Parameters:
Anonymous
Latex Bibtex:
@INPROCEEDINGS{Ren20173DV,
author = {Zhile Ren and Deqing Sun and Jan Kautz
and Erik B. Sudderth},
title = {Cascaded Scene Flow Prediction using
Semantic Segmentation},
booktitle = {International Conference on 3D Vision
(3DV)},
year = {2017}
}

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 3.55 8.75 4.42 4.94 17.48 7.02 5.63 14.71 7.14 7.18 24.58 10.07
All / Est 3.55 8.75 4.42 4.93 17.48 7.02 5.63 14.71 7.14 7.18 24.58 10.07
Noc / All 3.30 7.74 4.03 4.12 14.57 5.99 4.20 10.81 5.40 5.70 19.93 8.25
Noc / Est 3.30 7.74 4.03 4.12 14.57 5.99 4.20 10.81 5.40 5.70 19.93 8.25
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 3.50 1.84 3.27 3.57 1.84 3.33 2.59 25.33 5.71 4.57 25.54 7.44
All / Est 3.50 1.84 3.27 3.57 1.84 3.33 2.59 25.33 5.71 4.57 25.54 7.44
Noc / All 3.47 1.84 3.24 3.70 1.84 3.41 2.62 25.33 6.06 4.83 25.54 8.03
Noc / Est 3.47 1.84 3.24 3.70 1.84 3.41 2.62 25.33 6.06 4.83 25.54 8.03
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 3.44 8.26 3.97 3.60 18.52 5.26 2.41 17.23 4.07 3.84 26.71 6.39
All / Est 3.44 8.26 3.97 3.60 18.52 5.26 2.41 17.23 4.07 3.84 26.71 6.39
Noc / All 3.31 8.26 3.87 3.41 18.52 5.32 2.33 17.23 4.17 3.62 26.71 6.53
Noc / Est 3.31 8.26 3.87 3.41 18.52 5.32 2.33 17.23 4.17 3.62 26.71 6.53
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 3.84 2.32 3.76 4.05 3.15 4.01 3.54 11.35 3.92 4.58 11.42 4.91
All / Est 3.84 2.32 3.76 4.05 3.15 4.01 3.54 11.35 3.92 4.58 11.42 4.91
Noc / All 3.49 2.32 3.44 3.92 3.15 3.87 3.14 11.35 3.62 4.27 11.42 4.70
Noc / Est 3.49 2.32 3.44 3.92 3.15 3.87 3.14 11.35 3.62 4.27 11.42 4.70
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 5.27 26.99 7.28 5.85 72.60 12.02 7.42 96.50 15.66 8.46 96.50 16.60
All / Est 5.27 26.99 7.28 5.85 72.60 12.02 7.42 96.50 15.66 8.46 96.50 16.60
Noc / All 5.16 26.99 7.20 5.72 53.86 9.11 6.12 95.33 13.80 7.13 94.08 13.24
Noc / Est 5.16 26.99 7.20 5.72 53.86 9.11 6.12 95.33 13.80 7.13 94.08 13.24
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 4.78 4.28 4.70 5.91 23.43 8.81 5.68 18.59 7.82 6.84 35.81 11.65
All / Est 4.78 4.28 4.70 5.91 23.43 8.81 5.68 18.59 7.82 6.84 35.81 11.65
Noc / All 3.91 4.28 3.97 5.13 19.18 7.55 5.34 18.66 7.83 6.06 33.07 10.72
Noc / Est 3.91 4.28 3.97 5.13 19.18 7.55 5.34 18.66 7.83 6.06 33.07 10.72
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 6.89 4.65 6.69 7.68 4.62 7.41 4.46 0.79 4.13 9.03 5.40 8.70
All / Est 6.89 4.65 6.69 7.68 4.62 7.41 4.46 0.79 4.13 9.03 5.40 8.70
Noc / All 6.76 4.65 6.57 7.58 4.62 7.27 4.04 0.79 3.71 8.80 5.40 8.44
Noc / Est 6.76 4.65 6.57 7.58 4.62 7.27 4.04 0.79 3.71 8.80 5.40 8.44
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 13.07 3.39 12.05 14.34 3.40 13.18 9.67 1.10 8.77 14.66 3.63 13.50
All / Est 13.07 3.39 12.05 14.34 3.40 13.18 9.67 1.10 8.77 14.66 3.63 13.50
Noc / All 13.36 3.39 12.28 13.84 3.40 12.56 8.31 1.10 7.45 14.18 3.63 12.90
Noc / Est 13.36 3.39 12.28 13.84 3.40 12.56 8.31 1.10 7.45 14.18 3.63 12.90
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 4.08 9.41 5.13 4.05 9.46 5.11 2.79 94.08 20.66 5.25 95.62 22.93
All / Est 4.08 9.41 5.13 4.05 9.46 5.11 2.79 94.08 20.66 5.25 95.62 22.93
Noc / All 4.15 9.41 5.19 4.11 10.01 5.23 2.79 93.74 19.79 5.33 95.37 22.39
Noc / Est 4.15 9.41 5.19 4.11 10.01 5.23 2.79 93.74 19.79 5.33 95.37 22.39
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 2.40 3.33 2.57 2.41 3.33 2.58 0.78 5.07 1.57 3.15 5.07 3.50
All / Est 2.40 3.33 2.57 2.41 3.33 2.58 0.78 5.07 1.57 3.15 5.07 3.50
Noc / All 2.40 3.33 2.57 2.40 3.33 2.58 0.78 5.07 1.57 3.15 5.07 3.50
Noc / Est 2.40 3.33 2.57 2.40 3.33 2.58 0.78 5.07 1.57 3.15 5.07 3.50
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 4.22 2.09 3.68 4.22 2.09 3.68 0.91 37.18 10.18 4.75 37.18 13.04
All / Est 4.22 2.09 3.68 4.22 2.09 3.68 0.91 37.18 10.18 4.75 37.18 13.04
Noc / All 4.28 2.16 3.75 4.28 2.16 3.75 0.91 37.18 10.18 4.80 34.07 12.08
Noc / Est 4.28 2.16 3.75 4.28 2.16 3.75 0.91 37.18 10.18 4.80 34.07 12.08
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 2.57 4.46 3.00 4.16 4.55 4.25 2.08 5.62 2.89 5.05 5.71 5.20
All / Est 2.57 4.46 3.00 4.16 4.55 4.25 2.08 5.62 2.89 5.05 5.71 5.20
Noc / All 2.59 4.46 3.02 4.09 3.98 4.06 2.16 5.62 3.06 4.87 5.14 4.93
Noc / Est 2.59 4.46 3.02 4.09 3.98 4.06 2.16 5.62 3.06 4.87 5.14 4.93
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 2.02 0.86 1.81 2.58 2.30 2.53 2.70 2.66 2.70 3.40 3.16 3.36
All / Est 2.02 0.86 1.81 2.58 2.30 2.53 2.70 2.66 2.70 3.40 3.16 3.36
Noc / All 2.02 0.86 1.81 2.95 1.46 2.66 2.88 2.57 2.81 3.68 1.96 3.35
Noc / Est 2.02 0.86 1.81 2.95 1.46 2.66 2.88 2.57 2.81 3.68 1.96 3.35
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 1.02 1.33 1.04 1.21 1.33 1.22 2.52 1.60 2.46 2.64 1.60 2.57
All / Est 1.02 1.33 1.04 1.21 1.33 1.22 2.52 1.60 2.46 2.64 1.60 2.57
Noc / All 1.03 1.33 1.05 0.91 1.33 0.95 1.67 1.60 1.66 1.79 1.60 1.78
Noc / Est 1.03 1.33 1.05 0.91 1.33 0.95 1.67 1.60 1.66 1.79 1.60 1.78
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 1.43 0.29 1.29 1.85 7.68 2.57 2.99 5.90 3.34 3.20 10.77 4.13
All / Est 1.43 0.29 1.29 1.85 7.68 2.57 2.99 5.90 3.34 3.20 10.77 4.13
Noc / All 1.26 0.29 1.14 1.37 0.18 1.25 1.51 2.20 1.59 1.67 0.81 1.58
Noc / Est 1.26 0.29 1.14 1.37 0.18 1.25 1.51 2.20 1.59 1.67 0.81 1.58
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 1.57 0.00 1.54 1.48 0.00 1.45 3.85 14.90 4.04 4.09 14.90 4.27
All / Est 1.57 0.00 1.54 1.48 0.00 1.45 3.85 14.90 4.04 4.09 14.90 4.27
Noc / All 1.48 0.00 1.46 0.89 0.00 0.87 2.25 14.90 2.51 2.15 14.90 2.42
Noc / Est 1.48 0.00 1.46 0.89 0.00 0.87 2.25 14.90 2.51 2.15 14.90 2.42
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 4.51 4.08 4.47 6.27 9.52 6.56 7.99 6.24 7.83 8.55 10.97 8.77
All / Est 4.51 4.08 4.47 6.27 9.52 6.56 7.99 6.24 7.83 8.55 10.97 8.77
Noc / All 4.59 4.08 4.55 5.25 9.52 5.75 6.04 6.24 6.07 6.56 10.97 7.08
Noc / Est 4.59 4.08 4.55 5.25 9.52 5.75 6.04 6.24 6.07 6.56 10.97 7.08
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 6.12 5.59 6.04 8.68 14.65 9.56 9.46 43.48 14.46 10.32 51.96 16.45
All / Est 6.12 5.59 6.04 8.68 14.65 9.56 9.46 43.48 14.46 10.32 51.96 16.45
Noc / All 5.84 5.59 5.80 7.32 14.65 8.68 7.92 43.48 14.31 8.89 51.96 16.86
Noc / Est 5.84 5.59 5.80 7.32 14.65 8.68 7.92 43.48 14.31 8.89 51.96 16.86
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 2.57 4.06 2.73 4.09 7.89 4.49 6.61 13.37 7.31 7.34 18.79 8.54
All / Est 2.57 4.06 2.73 4.09 7.89 4.49 6.61 13.37 7.31 7.34 18.79 8.54
Noc / All 2.46 4.06 2.63 3.52 7.89 4.10 4.90 13.37 5.99 5.64 18.79 7.38
Noc / Est 2.46 4.06 2.63 3.52 7.89 4.10 4.90 13.37 5.99 5.64 18.79 7.38
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 9.59 8.94 9.28 12.99 96.26 52.55 14.25 100.00 54.99 15.75 100.00 55.78
All / Est 9.59 8.94 9.28 12.99 96.26 52.55 14.25 100.00 54.99 15.75 100.00 55.78
Noc / All 9.07 8.94 9.01 9.71 82.75 25.07 10.63 100.00 35.28 12.14 100.00 30.63
Noc / Est 9.07 8.94 9.01 9.71 82.75 25.07 10.63 100.00 35.28 12.14 100.00 30.63
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 1.91 3.91 2.14 2.88 15.91 4.35 5.21 8.28 5.56 5.58 16.65 6.83
All / Est 1.91 3.91 2.14 2.88 15.91 4.35 5.21 8.28 5.56 5.58 16.65 6.83
Noc / All 1.92 3.91 2.15 3.01 15.91 4.91 3.70 8.28 4.37 4.17 16.65 6.01
Noc / Est 1.92 3.91 2.15 3.01 15.91 4.91 3.70 8.28 4.37 4.17 16.65 6.01
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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