Multiframe Scene Flow with Piecewise Rigid Motion

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 overs-egmentation of the reference frame and robust optimization techniques. We formulate scene flow recovery as a global non-linear least squares problem whichis 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.


Vladislav Golyanik (University of Kaiserslautern)
Kihwan Kim (NVIDIA)
Robert Maier (Technical University of Munich )
Matthias Nießner (Technical University of Munich )
Didier Stricker (University of Kaiserslautern)

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