NDLI: Object scene flow for autonomous vehicles

Content Provider	IEEE Xplore Digital Library
Author	Menze, M. Geiger, A.
Copyright Year	2015
Description	Author affiliation: MPI Tubingen, Tubingen, Germany (Geiger, A.) \|\| Leibniz Univ. Hannover, Hannover, Germany (Menze, M.)
Abstract	This paper proposes a novel model and dataset for 3D scene flow estimation with an application to autonomous driving. Taking advantage of the fact that outdoor scenes often decompose into a small number of independently moving objects, we represent each element in the scene by its rigid motion parameters and each superpixel by a 3D plane as well as an index to the corresponding object. This minimal representation increases robustness and leads to a discrete-continuous CRF where the data term decomposes into pairwise potentials between superpixels and objects. Moreover, our model intrinsically segments the scene into its constituting dynamic components. We demonstrate the performance of our model on existing benchmarks as well as a novel realistic dataset with scene flow ground truth. We obtain this dataset by annotating 400 dynamic scenes from the KITTI raw data collection using detailed 3D CAD models for all vehicles in motion. Our experiments also reveal novel challenges which cannot be handled by existing methods.
Starting Page	3061
Ending Page	3070
File Size	2924077
Page Count	10
File Format	PDF
ISSN	10636919
e-ISBN	9781467369640
DOI	10.1109/CVPR.2015.7298925
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Solid modeling Benchmark testing Design automation Optical imaging Optical sensors Vehicle dynamics
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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