… We make the following contributions: (i) We propose a novel 3D scene flow approach based
on piecewise planar, rigidly moving regions, including regularization between these regions …

… 1.2 View-Consistent Multi-frame Scene Flow Our second contribution is to exploit this
piecewise rigid scene model to overcome two limitations of existing scene flow techniques. We …

… of the scene. While the idea of piecewise rigidity was explored in the context of scene flow
estimation in several ways before [16, 23, 11], we propose to combine a rigid parameterization …

… of the scene and their corresponding rigid … scene flow more accurately than the most
recent works in the field, and at the same time provides a meaningful segmentation of the scene …

… The first part of this energy, the data term Edata, penalizes deviations from the rigid scene flow
… The first premise is the definition of rigid scene flow in Eq. (4), which can be formulated as …

… Final Scene Flow Prediction: Given the final rigid motion estimation for each instance ξ∗ i ,
we are able to compute the dense instance-wise rigid scene flow. Our scene flow consists of …

… new scene flow approach that exploits the local and piecewise rigidity of real world scenes.
… of twists, our method encourages piecewise smooth solutions of rigid body motions. We give …

… local rigidity of the 3D scene. We derive a local rigidity constraint of the 3D scene flow and
define … Our experiments show that the new rigid motion prior reduces the 3D flow error by 42% …

… Example scene from [6]: Processing steps and final result of piecewise rigid scene flow
estimation. Estimated depth and the lateral 3D motion component are shown. Occlusion areas …

… to optimize object-level rigid scene flow without any annotated labels … Scene Flow [30, 31,
11] We evaluate our scene flow and motion segmentation predictions on the KITTI Scene Flow …