The Spring Dataset & Benchmark

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

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RAFT-3D (F)

Nov. 1, 2022, 2 p.m. — Public

💡 submitted by spring team | Z. Teed, and J. Deng. "RAFT-3D: Scene Flow using Rigid-Motion Embeddings." In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021.

Code: https://github.com/princeton-vl/RAFT-3D/

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+
78.822	78.753	82.195	78.329	85.191	79.618	72.799	77.570	97.838	84.329	81.680	65.478

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+
66.879	67.041	58.923	66.676	69.503	69.541	46.737	67.577	56.264	70.182	75.166	41.541

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+
23.225	22.912	42.064	20.976	67.878	18.418	96.274	24.286	16.427	41.499

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+
4.594	4.568	6.154	3.472	26.859	2.588	35.081	7.253	2.009	7.265

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+
10.393	10.313	15.229	8.483	48.317	7.769	50.272	12.022	6.854	17.867

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+
73.426	73.406	74.608	72.959	81.037	72.267	91.032	66.592	82.180	60.271

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+
15.091	15.093	14.991	14.241	28.971	13.843	34.068	9.688	15.757	23.358

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+
59.513	59.612	53.530	59.088	66.459	60.219	48.781	44.829	75.270	40.357

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+
48.066	47.883	76.933	47.662	64.791	48.200	47.056	48.798	36.942	42.335	68.531	40.645

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+
4.784	4.705	17.242	4.587	12.935	4.584	6.297	4.904	2.959	2.381	11.248	7.399

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+
34.921	34.853	45.645	34.653	46.010	35.974	26.949	36.071	17.434	27.067	65.525	17.821

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+
50.686	50.810	31.138	51.002	37.645	50.240	54.065	49.724	65.305	56.247	29.960	60.243

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