Completed Dense Scene Flow in RGB-D Space

Conventional scene flow containing only translational vectors is not able to model 3D motion with rotation properly. Moreover, the accuracy of 3D motion estimation is restricted by several challenges such as large displacement, noise, and missing data (caused by sensing techniques or occlusion). In terms of solution, there are two kinds of approaches: local approaches and global approaches. However, local approaches can not generate smooth motion field, and global approaches is difficult to handle large displacement motion. In this paper, a completed dense scene flow framework is proposed, which models both rotation and translation for general motion estimation. It combines both a local method and a global method considering their complementary characteristics to handle large displacement motion and enforce smoothness respectively. The proposed framework is applied on the RGB-D image space where the computation efficiency is further improved. According to the quantitative evaluation based on Middlebury dataset, our method outperforms other published methods. The improved performance is further confirmed on the real data acquired by Kinect sensor.