Publikation
Multiframe Scene Flow with Piecewise Rigid Motion
Vladislav Golyanik; Kihwan Kim; Robert Maier; Matthias Nießner; Didier Stricker; Jan Kautz
In: 3DVision 2017 |. International Conference on 3DVision (3DV-17), 5th, October 10-12, Qingdao, China, Conference Publishing Services (CPS), IEEE Xplore and CSDL, 10/2017.
Zusammenfassung
We introduce a novel multiframe scene flow approach
that jointly optimizes the consistency of the patch appearances
and their local rigid motions from RGB-D image sequences.
In contrast to the competing methods, we take advantage
of an oversegmentation of the reference frame and
robust optimization techniques. We formulate scene flow recovery
as a global non-linear least squares problem which
is iteratively solved by a damped Gauss-Newton approach.
As a result, we obtain a qualitatively new level of accuracy
in RGB-D based scene flow estimation which can potentially
run in real-time. Our method can handle challenging
cases with rigid, piecewise rigid, articulated and moderate
non-rigid motion, and does not rely on prior knowledge
about the types of motions and deformations. Extensive experiments
on synthetic and real data show that our method
outperforms state-of-the-art.