Method

Prediction-Correction Optical Flow Using SGBM [st] [PCOF-SGBM]


Submitted on 30 Mar. 2016 16:44 by
Maxime Derome (ONERA - The French Aerospace Lab)

Running time:0.8 s
Environment:GPU @ 2.0 Ghz (C/C++)

Method Description:
Optical flow algorithm using the prediction-
correction scheme described in the corresponding paper. The disparity map (SGBM stereo) and the camera motion (estimated by visual odometry) are used in order to synthesize a predicted image that compensates the camera motion. Then the residual flow (e.g. due to moving objects) is computed by estimating the optical flow from the observed image to the predicted image, using eFOLKI.
Parameters:

Latex Bibtex:

@inproceedings{derome2016prediction,
title={A Prediction-Correction Approach for Real-Time Optical Flow Computation Using Stereo},
author={Derome, Maxime and Plyer, Aurelien and Sanfourche, Martial and Le Besnerais, Guy},
booktitle={German Conference on Pattern Recognition},
pages={365--376},
year={2016},
organization={Springer}
}

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 7.84 % 12.12 % 1.2 px 2.1 px
3 pixels 5.40 % 8.73 % 1.2 px 2.1 px
4 pixels 4.25 % 6.98 % 1.2 px 2.1 px
5 pixels 3.56 % 5.89 % 1.2 px 2.1 px
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Reflective Regions

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Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.49 % 11.15 % 1.1 px 1.2 px
3 pixels 6.41 % 8.45 % 1.1 px 1.2 px
4 pixels 5.05 % 6.73 % 1.1 px 1.2 px
5 pixels 4.12 % 5.42 % 1.1 px 1.2 px
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Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.13 % 8.41 % 0.6 px 1.1 px
3 pixels 2.61 % 6.39 % 0.6 px 1.1 px
4 pixels 1.91 % 5.24 % 0.6 px 1.1 px
5 pixels 1.40 % 4.30 % 0.6 px 1.1 px
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Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.84 % 11.78 % 0.8 px 1.3 px
3 pixels 3.91 % 8.60 % 0.8 px 1.3 px
4 pixels 2.73 % 6.91 % 0.8 px 1.3 px
5 pixels 2.13 % 5.58 % 0.8 px 1.3 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.22 % 11.56 % 1.0 px 1.4 px
3 pixels 5.24 % 8.03 % 1.0 px 1.4 px
4 pixels 3.72 % 6.15 % 1.0 px 1.4 px
5 pixels 2.79 % 4.91 % 1.0 px 1.4 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.47 % 7.95 % 1.0 px 1.2 px
3 pixels 4.81 % 5.95 % 1.0 px 1.2 px
4 pixels 4.14 % 5.13 % 1.0 px 1.2 px
5 pixels 3.71 % 4.54 % 1.0 px 1.2 px
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Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.64 % 10.56 % 0.9 px 1.2 px
3 pixels 2.76 % 6.47 % 0.9 px 1.2 px
4 pixels 2.05 % 4.43 % 0.9 px 1.2 px
5 pixels 1.69 % 2.85 % 0.9 px 1.2 px
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Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.33 % 9.36 % 0.9 px 1.8 px
3 pixels 4.49 % 6.92 % 0.9 px 1.8 px
4 pixels 3.66 % 5.12 % 0.9 px 1.8 px
5 pixels 3.20 % 4.35 % 0.9 px 1.8 px
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Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.74 % 16.29 % 1.6 px 2.9 px
3 pixels 9.07 % 11.82 % 1.6 px 2.9 px
4 pixels 6.81 % 9.21 % 1.6 px 2.9 px
5 pixels 5.03 % 7.23 % 1.6 px 2.9 px
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Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.93 % 7.80 % 0.6 px 1.4 px
3 pixels 2.37 % 4.68 % 0.6 px 1.4 px
4 pixels 1.74 % 3.40 % 0.6 px 1.4 px
5 pixels 1.37 % 2.73 % 0.6 px 1.4 px
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Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.50 % 20.68 % 2.0 px 3.2 px
3 pixels 10.23 % 14.78 % 2.0 px 3.2 px
4 pixels 7.56 % 11.50 % 2.0 px 3.2 px
5 pixels 5.86 % 9.27 % 2.0 px 3.2 px
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Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.76 % 11.52 % 0.7 px 1.9 px
3 pixels 2.57 % 7.73 % 0.7 px 1.9 px
4 pixels 1.75 % 5.82 % 0.7 px 1.9 px
5 pixels 1.34 % 4.75 % 0.7 px 1.9 px
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Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.05 % 14.53 % 1.3 px 2.5 px
3 pixels 5.65 % 10.17 % 1.3 px 2.5 px
4 pixels 4.28 % 8.18 % 1.3 px 2.5 px
5 pixels 3.50 % 7.06 % 1.3 px 2.5 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.99 % 16.72 % 1.5 px 2.3 px
3 pixels 7.44 % 13.27 % 1.5 px 2.3 px
4 pixels 6.12 % 11.20 % 1.5 px 2.3 px
5 pixels 5.27 % 9.79 % 1.5 px 2.3 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.26 % 10.25 % 1.0 px 2.2 px
3 pixels 5.06 % 7.58 % 1.0 px 2.2 px
4 pixels 3.65 % 5.89 % 1.0 px 2.2 px
5 pixels 2.73 % 4.74 % 1.0 px 2.2 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.53 % 13.54 % 1.3 px 2.1 px
3 pixels 6.62 % 10.71 % 1.3 px 2.1 px
4 pixels 5.64 % 9.13 % 1.3 px 2.1 px
5 pixels 4.91 % 8.08 % 1.3 px 2.1 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.39 % 17.08 % 1.4 px 2.0 px
3 pixels 7.77 % 12.22 % 1.4 px 2.0 px
4 pixels 5.88 % 9.45 % 1.4 px 2.0 px
5 pixels 4.62 % 7.57 % 1.4 px 2.0 px
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Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.18 % 4.64 % 0.6 px 0.7 px
3 pixels 0.93 % 1.88 % 0.6 px 0.7 px
4 pixels 0.62 % 0.95 % 0.6 px 0.7 px
5 pixels 0.49 % 0.68 % 0.6 px 0.7 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.06 % 11.53 % 1.0 px 2.1 px
3 pixels 4.91 % 8.66 % 1.0 px 2.1 px
4 pixels 3.82 % 7.16 % 1.0 px 2.1 px
5 pixels 3.02 % 6.06 % 1.0 px 2.1 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.53 % 3.07 % 0.5 px 0.6 px
3 pixels 1.70 % 1.75 % 0.5 px 0.6 px
4 pixels 1.18 % 1.13 % 0.5 px 0.6 px
5 pixels 0.80 % 0.77 % 0.5 px 0.6 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.78 % 4.48 % 0.6 px 0.9 px
3 pixels 1.95 % 2.74 % 0.6 px 0.9 px
4 pixels 1.53 % 1.97 % 0.6 px 0.9 px
5 pixels 1.28 % 1.60 % 0.6 px 0.9 px
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