The Spring Dataset & Benchmark

Spring: L. Mehl, J. Schmalfuss, A. Jahedi, Y. Nalivayko, A. Bruhn — University of Stuttgart

RobustSpring: V. Oei, J. Schmalfuss, L. Mehl, M. Bartsch, S. Agnihotri, M. Keuper, A. Bulling, A. Bruhn — University of Stuttgart, University of Mannheim, MPI for Informatics

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Test SF Chart

June 30, 2026, 1:24 p.m. — Public

Scene Flow

1px total	1px low-detail	1px high-detail	1px matched	1px unmatched	1px rigid	1px non-rigid	1px not sky	1px sky	1px s0-10	1px s10-40	1px s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

SF total	SF low-detail	SF high-detail	SF matched	SF unmatched	1px rigid	1px non-rigid	SF not sky	SF sky	SF s0-10	SF s10-40	SF s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Disparity 1

1px total	1px low-detail	1px high-detail	1px matched	1px unmatched	1px not sky	1px sky	1px s0-10	1px s10-40	1px s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Abs total	Abs low-detail	Abs high-detail	Abs matched	Abs unmatched	Abs not sky	Abs sky	Abs s0-10	Abs s10-40	Abs s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

D1 total	D1 low-detail	D1 high-detail	D1 matched	D1 unmatched	D1 not sky	D1 sky	D1 s0-10	D1 s10-40	D1 s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Disparity 2

1px total	1px low-detail	1px high-detail	1px matched	1px unmatched	1px not sky	1px sky	1px s0-10	1px s10-40	1px s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Abs total	Abs low-detail	Abs high-detail	Abs matched	Abs unmatched	Abs not sky	Abs sky	Abs s0-10	Abs s10-40	Abs s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

D2 total	D2 low-detail	D2 high-detail	D2 matched	D2 unmatched	D2 not sky	D2 sky	D2 s0-10	D2 s10-40	D2 s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Optical Flow

1px total	1px low-detail	1px high-detail	1px matched	1px unmatched	1px rigid	1px non-rigid	1px not sky	1px sky	1px s0-10	1px s10-40	1px s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

EPE total	EPE low-detail	EPE high-detail	EPE matched	EPE unmatched	EPE rigid	EPE non-rigid	EPE not sky	EPE sky	EPE s0-10	EPE s10-40	EPE s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Fl total	Fl low-detail	Fl high-detail	Fl matched	Fl unmatched	Fl rigid	Fl non-rigid	Fl not sky	Fl sky	Fl s0-10	Fl s10-40	Fl s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

WAUC total	WAUC low-detail	WAUC high-detail	WAUC matched	WAUC unmatched	WAUC rigid	WAUC non-rigid	WAUC not sky	WAUC sky	WAUC s0-10	WAUC s10-40	WAUC s40+
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Robustness Evaluation (Overall)

Disparity 1			Disparity 2			Optical Flow
1px total	Abs total	D1 total	1px total	Abs total	D2 total	EPE total	Fl total	1px total
-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000	-1.000

Robustness per Corruption

Method: Error metric:

Robustness Evaluation (Per-Corruption)

Corruption	Disparity 1			Disparity 2			Optical Flow
	1px	Abs	D1	1px	Abs	D2	EPE	Fl	1px
Brightness	1.500	2.500	3.500	1.700	2.700	3.700	1.000	-1.000	3.000
Contrast	1.700	2.700	3.700	1.900	2.900	3.900	1.300	-1.000	3.100
Fog	1.900	2.900	3.900	2.100	3.100	4.100	1.600	-1.000	3.200
Snow	2.100	3.100	4.100	2.300	3.300	4.300	1.900	-1.000	3.300
Gaussian Noise	2.300	3.300	4.300	2.500	3.500	4.500	2.200	-1.000	3.400
Motion Blur	2.500	3.500	4.500	2.700	3.700	4.700	2.500	-1.000	3.500
Pixelate	2.700	3.700	4.700	2.900	3.900	4.900	2.800	-1.000	3.600

Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error
Reference Frame	Disparity 1 visualization	Disparity 1 error	Disparity 2 visualization	Disparity 2 error	Flow visualization	Flow error	Scene flow error

blue to white to red error visualization color code — Error visualization color code