Table 3:
Average endpoint error of different methods on benchmark datasets. Entries with parentheses indicate the testing performance on data that was previous used for fine-tuning the network. Flall measures the percentage of outlier estimates; pixels with EE ≥ 3 and EE ≥ 5% of the magnitude of its ground-truth flow vector were counted as outliers.
| Method | Sintel clean | Sintel final | KITTI12 | KITTI15 | Middlebury | |||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| train | test | train | test | train | test | train | train (Fl-all) | test (Fl-all) | train | test | ||
| Heavyweight CNN | FlowNetS [4] | 4.50 | 7.42 | 5.45 | 8.43 | 8.26 | - | - | - | - | 1.09 | - |
| FlowNetS ft-sintel [4] | (3.66) | 6.96 | (4.44) | 7.76 | 7.52 | 9.1 | - | - | - | 0.98 | - | |
| FlowNetC [4] | 4.31 | 7.28 | 5.87 | 8.81 | 9.35 | - | - | - | - | 1.15 | - | |
| FlowNetC ft-sintel [4] | (3.78) | 6.85 | (5.28) | 8.51 | 8.79 | - | - | - | - | 0.93 | - | |
| FlowNet2 [14] | 2.02 | 3.96 | 3.54 | 6.02 | 4.01 | - | 10.08 | 29.99% | - | 0.35 | 0.52 | |
| FlowNet2 ft-sintel [14] | (1.45) | 4.16 | (2.19) | 5.74 | 3.54 | - | 9.94 | 28.02% | - | 0.35 | - | |
| FlowNet2 ft-kitti [14] | 3.43 | - | 4.83 | - | (1.43) | 1.8 | (2.36) | (8.88%) | 11.48% | 0.56 | - | |
|
| ||||||||||||
| Lightweight CNN | SPyNet [27] | 4.12 | 6.69 | 5.57 | 8.43 | 9.12 | - | - | - | - | 0.33 | 0.58 |
| SPyNet ft-sintel [27] | (3.17) | 6.64 | (4.32) | 8.36 | 3.36 | 4.1 | - | - | 35.07% | 0.33 | 0.58 | |
| PWC-Net ft-sintel [33] | (1.7) | 3.86 | (2.21) | 5.13 | - | - | - | - | - | - | - | |
| PWC-Net ft-kitti [33] | - | - | - | - | (1.08) | 1.5 | (1.45) | (7.59%) | 7.9% | - | - | |
| PWC-Net+ ft-sintel [33] | (1.71) | 3.45 | (2.34) | 4.60 | ||||||||
| LiteFlowNet [11] | 2.52 | - | 4.05 | - | 4.25 | - | 10.46 | 29.30% | - | 0.39 | - | |
| LiteFlowNet ft-sintel [11] | (1.64) | 4.54 | (2.23) | 5.38 | - | - | - | - | - | - | - | |
| LiteFlowNet ft-kitti [11] | - | - | - | - | (1.26) | 1.7 | (2.16) | (8.16%) | 10.24% | - | - | |
| LiteFlowNet2 ft-sintel [12] | (1.30) | 3.48 | (1.62) | 4.69 | - | - | - | - | - | - | - | |
| LiteFlowNet2 ft-kitti [12] | - | - | - | - | (0.95) | 1.4 | (1.33) | (4.32%) | 7.62% | - | - | |
| LiteFlowNet3 ft-sintel [10] | (1.32) | 2.99 | (1.76) | 4.45 | - | - | - | - | - | - | - | |
| LiteFlowNet3 ft-kitti [10] | - | - | - | - | (0.91) | 1.3 | (1.26) | (3.82%) | 7.34% | - | - | |
|
| ||||||||||||
| CA-DCNN [40] | (1.97) | 5.32 | (3.75) | 7.05 | - | - | - | - | - | - | ||
| RAFT (2-frame) [34] | (0.77) | 2.08 | (1.2) | 3.41 | - | - | (0.64) | (1.5) | 5.27% | - | ||
| GMA [17] | (0.62) | 1.39 | (1.06) | 2.47 | - | - | (0.57) | (1.2) | 5.15% | - | - | |
| SAMFL [41] | - | 4.48 | - | 4.77 | - | 1.4 | - | 7.68% | - | - | ||
| PMC-PWC [42] | (1.53) | 3.17 | (2.41) | 4.56 | (0.93) | - | (1.32) | - | 7.22% | - | - | |
|
| ||||||||||||
| DDCNet-B0 ft-sintel | (2.71) | 7.20 | (3.27) | 7.46 | 7.35 | - | 15.29 | 47.78% | - | 0.67 | - | |
| DDCNet-B1 | 4.12 | - | 5.46 | - | 9.57 | - | 16.43 | 59.03% | - | 1.2 | - | |
| DDCNet-B1 ft-sintel | (1.96) | 6.19 | (2.25) | 6.91 | 6.65 | - | 13.22 | 52.68% | - | 1.14 | - | |
| DDCNet-B1 ft-kitti | 6.65 | - | 8.38 | - | (1.76) | 4.2 | (2.57) | (15.56)% | 38.23 | 1.74 | - | |