The Spring Dataset & Benchmark

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

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PWOC-3D

Aug. 29, 2023, 10:49 a.m. — Public

R. Saxena, R. Schuster, O. Wasenmuller, and D. Stricker. "PWOC-3D: Deep Occlusion-Aware End-to-End Scene Flow Estimation." In IEEE Intelligent Vehicles Symposium (IV), 2019.

Code: https://github.com/dfki-av/pwoc-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+
26.714	26.031	60.302	23.420	69.262	21.780	64.043	24.049	67.216	22.622	15.982	59.331

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+
9.990	9.632	27.588	7.405	43.379	7.586	28.175	8.935	26.012	4.583	5.630	27.187

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+
18.226	17.831	42.067	16.020	62.014	15.946	52.877	18.279	12.716	34.570

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+
1.343	1.305	3.627	0.981	8.537	1.188	3.710	1.199	0.996	2.654

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+
5.887	5.790	11.763	4.271	37.971	5.285	15.036	5.247	5.819	7.304

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+
18.979	18.602	41.674	16.549	58.642	16.456	57.318	20.379	12.791	34.786

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+
1.393	1.354	3.742	1.022	7.459	1.232	3.848	1.253	0.997	2.840

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+
6.188	6.085	12.358	4.511	33.565	5.621	14.809	5.143	5.801	9.324

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+
14.461	14.066	76.598	13.263	64.017	10.002	48.200	12.986	36.884	5.212	15.469	89.110

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+
2.813	2.713	18.572	2.363	21.445	1.750	10.858	2.431	8.620	0.360	0.887	28.551

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+
5.412	5.157	45.526	4.535	41.689	3.083	23.032	4.843	14.062	0.703	3.958	48.736

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+
81.149	81.463	31.740	82.144	39.962	84.675	54.472	82.050	67.447	89.288	77.100	24.012

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