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Spring: L. Mehl, J. Schmalfuss, A. Jahedi, Y. Nalivayko, A. Bruhn — University of Stuttgart

RobustSpring: V. Oei, J. Schmalfuss, L. Mehl, M. Bartsch, S. Agnihotri, M. Keuper, A. Bulling, A. Bruhn — University of Stuttgart, University of Mannheim, MPI for Informatics

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RoCo-Spring Team Baselines-Scene Flow

Aug. 16, 2026, 4:54 a.m.  —  Public

đŸ’¡ submitted by spring team | Z. Teed, and J. Deng. "RAFT-3D: Scene Flow using Rigid-Motion Embeddings." In CVPR, 2021. and L. Lipson, Z. Teed, and J. Deng. "RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matching." In 3DV, 2021.

 

Scene Flow

1px
total		 1px
low-detail		 1px
high-detail		 1px
matched		 1px
unmatched		 1px
rigid		 1px
non-rigid		 1px
not sky		 1px
sky		 1px
s0-10		 1px
s10-40		 1px
s40+
19.228 18.592 50.490 16.449 55.116 15.957 43.974 14.053 97.862 24.457 11.136 35.058
 
SF
total		 SF
low-detail		 SF
high-detail		 SF
matched		 SF
unmatched		 1px
rigid		 1px
non-rigid		 SF
not sky		 SF
sky		 SF
s0-10		 SF
s10-40		 SF
s40+
10.301 10.120 19.174 8.406 34.774 9.784 14.212 5.250 87.058 20.288 5.044 13.640

Disparity 1

1px
total		 1px
low-detail		 1px
high-detail		 1px
matched		 1px
unmatched		 1px
not sky		 1px
sky		 1px
s0-10		 1px
s10-40		 1px
s40+
15.561 15.270 33.132 13.636 53.781 10.165 97.567 23.005 10.415 16.803
 
Abs
total		 Abs
low-detail		 Abs
high-detail		 Abs
matched		 Abs
unmatched		 Abs
not sky		 Abs
sky		 Abs
s0-10		 Abs
s10-40		 Abs
s40+
3.875 3.905 2.075 3.513 11.067 0.690 52.288 10.303 0.708 1.139
 
D1
total		 D1
low-detail		 D1
high-detail		 D1
matched		 D1
unmatched		 D1
not sky		 D1
sky		 D1
s0-10		 D1
s10-40		 D1
s40+
8.844 8.866 7.520 7.504 35.433 3.720 86.708 18.319 4.751 3.088

Disparity 2

1px
total		 1px
low-detail		 1px
high-detail		 1px
matched		 1px
unmatched		 1px
not sky		 1px
sky		 1px
s0-10		 1px
s10-40		 1px
s40+
15.856 15.554 34.006 13.825 49.007 10.484 97.493 22.976 10.454 18.464
 
Abs
total		 Abs
low-detail		 Abs
high-detail		 Abs
matched		 Abs
unmatched		 Abs
not sky		 Abs
sky		 Abs
s0-10		 Abs
s10-40		 Abs
s40+
3.802 3.830 2.137 3.421 10.028 0.702 50.912 10.035 0.707 1.211
 
D2
total		 D2
low-detail		 D2
high-detail		 D2
matched		 D2
unmatched		 D2
not sky		 D2
sky		 D2
s0-10		 D2
s10-40		 D2
s40+
8.899 8.919 7.732 7.516 31.489 3.780 86.704 18.307 4.755 3.415

Optical Flow

1px
total		 1px
low-detail		 1px
high-detail		 1px
matched		 1px
unmatched		 1px
rigid		 1px
non-rigid		 1px
not sky		 1px
sky		 1px
s0-10		 1px
s10-40		 1px
s40+
9.095 8.711 69.526 8.294 42.225 6.240 30.689 6.637 46.449 5.600 7.349 43.056
 
EPE
total		 EPE
low-detail		 EPE
high-detail		 EPE
matched		 EPE
unmatched		 EPE
rigid		 EPE
non-rigid		 EPE
not sky		 EPE
sky		 EPE
s0-10		 EPE
s10-40		 EPE
s40+
1.250 1.205 8.348 1.085 8.086 1.033 2.889 0.710 9.453 0.574 0.670 8.475
 
Fl
total		 Fl
low-detail		 Fl
high-detail		 Fl
matched		 Fl
unmatched		 Fl
rigid		 Fl
non-rigid		 Fl
not sky		 Fl
sky		 Fl
s0-10		 Fl
s10-40		 Fl
s40+
3.839 3.631 36.646 3.332 24.807 2.969 10.424 2.405 25.638 2.152 3.585 18.635
 
WAUC
total		 WAUC
low-detail		 WAUC
high-detail		 WAUC
matched		 WAUC
unmatched		 WAUC
rigid		 WAUC
non-rigid		 WAUC
not sky		 WAUC
sky		 WAUC
s0-10		 WAUC
s10-40		 WAUC
s40+
88.037 88.354 38.052 88.752 58.440 90.626 68.447 90.136 56.133 91.663 87.837 58.235

Robustness Evaluation (Overall)

Disparity 1 Disparity 2 Optical Flow
1px
total		 Abs
total		 D1
total		 1px
total		 Abs
total		 D2
total		 EPE
total		 Fl
total		 1px
total
35.409 18.908 14.037 35.850 18.590 19.838 6.813 17.574 30.798

Robustness per Corruption

Robustness Evaluation (Per-Corruption)

Corruption Disparity 1 Disparity 2 Optical Flow
1px Abs D1 1px Abs D2 EPE Fl 1px
Brightness 9.428 2.525 3.336 9.935 2.495 5.158 0.707 2.457 6.750
Contrast 13.970 3.411 3.936 14.421 3.387 6.253 1.658 4.974 12.596
Defocus Blur 10.716 3.330 3.932 11.246 3.306 5.492 0.783 2.627 7.245
Elastic Transform 65.294 13.980 7.422 65.376 13.624 14.709 1.638 6.027 27.184
Fog 14.693 3.799 5.329 15.234 3.751 8.595 3.356 10.740 16.735
Frost 43.379 17.918 14.472 43.742 17.300 33.323 8.269 27.485 46.415
Gaussian Blur 11.519 3.465 4.002 12.085 3.441 5.606 0.833 2.752 7.648
Gaussian Noise 44.736 32.353 29.370 44.997 31.861 35.869 8.529 32.676 48.345
Glass Blur 13.143 3.369 3.975 13.588 3.340 5.756 0.835 2.699 8.052
Impulse Noise 49.304 29.769 30.882 49.834 29.458 38.543 11.053 45.354 66.400
JPEG Compression 58.114 8.610 7.716 58.211 8.424 18.268 2.826 12.133 41.214
Motion Blur 12.731 2.720 3.386 12.919 2.688 6.266 2.141 8.654 17.690
Pixelate 64.886 23.567 12.855 64.914 23.178 16.539 1.183 3.871 18.443
Rain 52.125 92.647 38.801 53.778 91.361 44.194 59.291 51.456 60.848
Saturate 8.002 1.001 1.322 8.629 1.004 3.718 0.794 2.601 7.030
Shot Noise 43.922 24.411 26.207 44.057 24.069 33.819 6.943 29.848 45.040
Snow 44.992 57.966 35.992 46.064 56.479 39.676 11.220 44.766 56.927
Spatter 36.922 23.608 14.389 37.401 23.271 24.044 5.080 18.077 38.825
Speckle Noise 48.951 22.965 26.848 49.129 22.661 36.442 6.862 32.485 53.920
Zoom Blur 61.357 6.755 6.574 61.439 6.697 14.492 2.250 9.804 28.646
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
reference frame
Reference Frame
color visualization of disparity 1
Disparity 1 visualization
grayscale visualization of disparity 1 error
Disparity 1 error
color visualization of disparity 2
Disparity 2 visualization
grayscale visualization of disparity 2 error
Disparity 2 error
color visualization of optical flow
Flow visualization
grayscale visualization of optical flow error
Flow error
grayscale visualization of optical flow error
Scene flow error
Error visualization color code
blue to white to red error visualization color code