The Spring Dataset & Benchmark

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

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CamLiFlow (K)

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+
85.310	85.180	91.671	84.463	96.246	84.181	93.853	84.346	99.956	65.159	87.845	99.861

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+
70.870	70.627	82.819	69.385	90.053	68.787	86.629	69.035	98.768	42.316	71.511	99.273

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+
32.309	32.096	45.189	30.071	76.734	27.963	98.355	39.354	22.522	48.158

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+
7.042	7.059	5.994	5.670	34.271	3.244	64.766	13.584	3.151	6.247

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+
14.174	14.140	16.206	11.863	60.041	10.051	76.837	19.487	9.482	18.100

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+
76.319	76.246	80.712	75.475	90.098	74.992	96.490	60.550	78.668	99.231

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+
40.100	39.465	78.278	39.218	54.492	41.240	22.761	13.411	25.812	133.372

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+
55.590	55.377	68.388	54.175	78.681	54.558	71.264	30.909	57.169	97.707

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+
69.685	69.533	93.651	69.179	90.611	67.381	87.114	67.724	99.492	62.899	79.497	99.903

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+
127.387	126.720	232.426	125.669	198.488	114.579	224.287	129.281	98.607	90.529	181.468	289.420

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+
60.485	60.306	88.631	59.920	83.866	57.904	80.011	57.994	98.334	52.602	70.553	99.189

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+
30.635	30.782	7.395	31.113	10.830	32.823	14.082	32.590	0.919	37.218	21.482	0.327

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