The Spring Dataset & Benchmark

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

Not logged in | Login | Create Account

CamLiFlow (F)

Nov. 1, 2022, 2 p.m. — Public

💡 submitted by spring team | H. Liu, T. Lu, Y. Xu, J. Liu, W. Li, and L. Chen. "CamLiFlow: Bidirectional Camera-LiDAR Fusion for Joint Optical Flow and Scene Flow Estimation." In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

Code: https://github.com/MCG-NJU/CamLiFlow

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+
50.083	49.640	71.884	47.795	79.636	46.754	75.267	46.848	99.252	31.115	42.699	89.550

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+
34.151	33.759	53.420	31.963	62.410	30.091	64.866	31.875	68.735	19.323	25.878	71.600

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+
44.104	43.819	61.227	42.293	73.656	40.622	97.013	25.741	41.242	87.485

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+
23.450	23.002	50.407	21.786	50.607	21.402	54.577	11.993	9.025	88.232

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+
26.352	26.096	41.799	24.553	55.718	24.690	51.617	12.648	20.090	71.041

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+
24.012	23.694	74.084	23.112	61.234	21.203	45.265	21.791	57.763	15.394	33.769	69.710

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+
27.774	27.673	43.748	27.784	27.367	29.361	15.769	29.048	8.421	15.640	65.531	27.126

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+
17.216	16.959	57.694	16.540	45.173	15.536	29.927	16.399	29.635	10.132	29.316	43.747

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+
74.082	74.368	29.004	74.899	40.280	76.570	55.259	75.862	47.032	82.011	63.989	35.059

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