Scene Flow - Robotics Institute Carnegie Mellon University

Scene flow is the three-dimensional motion field of points in the world, just as optical flow is the two-dimensional motion field of points in an image. Any optical flow is simply the projection of the scene flow onto the image plane of a camera. We have developed a framework for the computation of dense, non-rigid scene flow from optical flow. We have also developed an algorithm for computing 3D scene flow and 3D scene shape simultaneously. This second algorithm does not require the prior computation of optical flow. See the movie below for an example of a reconstructed 3D voxel model and the corresponding 3D scene flow. As the movie plays, the voxels in the 3D are “flowed” along the scene flow.