A Variational Method for Scene Flow Estimation from Stereo Sequences

This paper presents a method for scene flow estimation from a calibrated stereo image sequence. The scene flow contains the 3-D displacement field of scene points, so that the 2-D optical flow can be seen as a projection of the scene flow onto the images. We propose to recover the scene flow by coupling the optical flow estimation in both cameras with dense stereo matching between the images, thus reducing the number of unknowns per image point. The use of a variational framework allows us to properly handle discontinuities in the observed surfaces and in the 3-D displacement field. Moreover our approach handles occlusions both for the optical flow and the stereo. We obtain a partial differential equations system coupling both the optical flow and the stereo, which is numerically solved using an original multiresolution algorithm. Whereas previous variational methods were estimating the 3-D reconstruction at time t and the scene flow separately, our method jointly estimates both in a ...

• Type: Conference
• Year: 2007
• Where: ICCV
• Authors: Frederik Huguet, Frederic Devernay
• Keywords: 2-D Optical Flow, Computer Vision, ICCV 2007, Optical Flow Computation, Optical Flow Estimation, Scene Flow Estimation, Stereo Image Sequence