The Spring Dataset & Benchmark

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

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RAFT-3D (K)

Nov. 8, 2022, 5:15 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+
37.262	36.796	60.227	34.340	75.021	32.866	70.522	33.231	98.531	43.799	24.546	63.914

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+
17.345	16.998	34.446	14.320	56.422	14.367	39.880	13.200	80.341	20.238	9.431	35.169

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+
32.948	32.735	45.810	30.571	71.760	28.644	98.367	39.367	22.654	51.487

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+
7.111	7.127	6.119	5.752	29.296	3.294	65.115	13.651	3.157	6.498

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+
14.544	14.505	16.919	12.168	53.340	10.445	76.843	19.482	9.532	20.129

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+
13.962	13.539	80.464	12.963	55.254	8.932	52.013	11.822	46.479	8.895	14.726	54.283

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+
2.528	2.401	22.473	2.229	14.883	1.508	10.239	2.016	10.309	0.671	1.358	21.227

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+
6.889	6.557	59.261	6.129	38.333	4.026	28.553	5.329	30.596	2.890	7.225	39.438

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+
81.267	81.624	24.923	82.127	45.658	85.308	50.693	83.082	53.671	86.026	80.124	44.539

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