1. [Publications](/publications) 2. Multiframe Scene Flow with Piecewise Rigid Motion # Multiframe Scene Flow with Piecewise Rigid Motion ![](/sites/default/files/styles/wide/public/publications/msf-3dv17.png?itok=YNFguGi3) 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. ## Authors 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) [Jan Kautz](/person/jan-kautz) ## Publication Date Tuesday, October 10, 2017 ## Published in [IEEE International Conference on 3D Vision (3DV 2017)](http://www.3dv.org) ## Research Area [Computer Vision](/research-area/computer-vision) ## External Links [Talk slide](https://vision.in.tum.de/_media/spezial/bib/golyanik2017multiframe_slides.pdf) [Video](https://www.youtube.com/watch?v=3ZbhVL97Q3Q) ## Uploaded Files [Paper (pdf)](https://research.nvidia.com/sites/default/files/publications/MSF_CAMERA_READY.pdf "Open file in new window")11.96 MB ## Copyright This material is posted here with permission of the IEEE. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to .