Mono-SF: Multi-View Geometry Meets Single-View Depth for Monocular Scene Flow Estimation of Dynamic Traffic Scenes

Fabian Brickwedde, Steffen Abraham, Rudolf Mester; The IEEE International Conference on Computer Vision (ICCV), 2019, pp. 2780-2790

Abstract


Existing 3D scene flow estimation methods provide the 3D geometry and 3D motion of a scene and gain a lot of interest, for example in the context of autonomous driving. These methods are traditionally based on a temporal series of stereo images. In this paper, we propose a novel monocular 3D scene flow estimation method, called Mono-SF. Mono-SF jointly estimates the 3D structure and motion of the scene by combining multi-view geometry and single-view depth information. Mono-SF considers that the scene flow should be consistent in terms of warping the reference image in the consecutive image based on the principles of multi-view geometry. For integrating single-view depth in a statistical manner, a convolutional neural network, called ProbDepthNet, is proposed. ProbDepthNet estimates pixel-wise depth distributions from a single image rather than single depth values. Additionally, as part of ProbDepthNet, a novel recalibration technique for regression problems is proposed to ensure well-calibrated distributions. Our experiments show that Mono-SF outperforms state-of-the-art monocular baselines and ablation studies support the Mono-SF approach and ProbDepthNet design.

Related Material


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[bibtex]
@InProceedings{Brickwedde_2019_ICCV,
author = {Brickwedde, Fabian and Abraham, Steffen and Mester, Rudolf},
title = {Mono-SF: Multi-View Geometry Meets Single-View Depth for Monocular Scene Flow Estimation of Dynamic Traffic Scenes},
booktitle = {The IEEE International Conference on Computer Vision (ICCV)},
month = {October},
year = {2019}
}