Multiframe Scene Flow with Piecewise Rigid Motion

Multiframe Scene Flow with Piecewise Rigid Motion
Vladislav Golyanik, Kihwan Kim, Robert Maier, Matthias Nießner, Didier Stricker, Jan Kautz
3DVision 2017 International Conference on 3DVision (3DV-17), 5th, October 10-12, Qingdao, China

Abstract:
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.