Consistent Binocular Depth and Scene Flow with Chained Temporal Profiles
We propose a depth and image scene flow estimation method taking the input of a binocular video. The key component is motion-depth temporal consistency preservation, making computation in long sequences reliable. We tackle a number of fundamental technical issues, including connection establishment between motion and depth, structure consistency preservation in multiple frames, and long-range temporal constraint employment for error correction. We address all of them in a unified depth and scene flow estimation framework. Our main contributions include development of motion trajectories, which robustly link frame correspondences in a voting manner, rejection of depth/motion outliers through temporal robust regression, novel edge occurrence map estimation, and introduction of anisotropic smoothing priors for proper regularization.
chained temporal profiles video depth estimation consistent scene flow stereo matching