Multi-Scale 3D Scene Flow from Binocular Stereo Sequences
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Scene ﬂow methods estimate the three-dimensional motion ﬁeld for points in the world, using multi-camera video data. Such methods combine multi-view reconstruction with motion estimation. This paper describes an alternative formulation for dense scene ﬂow estimation that provides reliable results using only two cameras by fusing stereo and optical ﬂow estimation into a single coherent framework. Internally, the proposed algorithm generates probability distributions for optical ﬂow and disparity. Taking into account the uncertainty in the intermediate stages allows for more reliable estimation of the 3D scene ﬂow than previous methods allow. To handle the aperture problems inherent in the estimation of optical ﬂow and disparity, a multi-scale method along with a novel region-based technique is used within a regularized solution. This combined approach both preserves discontinuities and prevents over-regularization – two problems commonly associated with the basic multi-scale approaches. Experiments with synthetic and real test data demonstrate the strength of the proposed approach.