Abstract
This paper presents a technique for estimating the three-dimensional velocity vector field that describes the motion of each visible scene point (scene flow). The technique presented uses two consecutive image pairs from a stereo sequence. The main contribution is to decouple the position and velocity estimation steps, and to estimate dense velocities using a variational approach. We enforce the scene flow to yield consistent displacement vectors in the left and right images. The decoupling strategy has two main advantages: Firstly, we are independent in choosing a disparity estimation technique, which can yield either sparse or dense correspondences, and secondly, we can achieve frame rates of 5 fps on standard consumer hardware. The approach provides dense velocity estimates with accurate results at distances up to 50 meters.
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Wedel, A., Rabe, C., Vaudrey, T., Brox, T., Franke, U., Cremers, D. (2008). Efficient Dense Scene Flow from Sparse or Dense Stereo Data. In: Forsyth, D., Torr, P., Zisserman, A. (eds) Computer Vision – ECCV 2008. ECCV 2008. Lecture Notes in Computer Science, vol 5302. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88682-2_56
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DOI: https://doi.org/10.1007/978-3-540-88682-2_56
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