Abstract:
This paper presents a technique for estimating the threedimensional
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.
Description:
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