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experiments.tex
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@ -115,19 +115,19 @@ first 144K iterations and $0.25 \cdot 10^{-3}$ for all remaining iterations.
{
\begin{table}[t]
\centering
\begin{tabular}{@{}*{10}{c}@{}}
\begin{tabular}{@{}*{11}{c}@{}}
\toprule
\multicolumn{3}{c}{Network} & \multicolumn{3}{c}{Instance Motion Error} & \multicolumn{2}{c}{Camera Motion Error} &\multicolumn{2}{c}{Optical Flow Error} \\
\cmidrule(lr){1-3}\cmidrule(lr){4-6}\cmidrule(l){7-8}\cmidrule(l){9-10}
FPN & cam. & sup. & $E_{R}$ & $E_{t}$ & $E_{p}$ & $E_{R}^{cam}$ & $E_{t}^{cam}$ & AEE & Fl-all \\\midrule
$\times$ & $\times$ & 3D & ? & ? & ? & - & - & ? & ?\% \\
\checkmark & $\times$ & 3D & ? & ? & ? & - & - & ? & ?\% \\
$\times$ & \checkmark & 3D & ? & ? & ? & ? & ? & ? & ?\% \\
\checkmark & \checkmark & 3D & ? & ? & ? & ? & ? & ? & ?\% \\
$\times$ & $\times$ & flow & ? & ? & ? & - & - & ? & ?\% \\
\checkmark & $\times$ & flow & ? & ? & ? & - & - & ? & ?\% \\
$\times$ & \checkmark & flow & ? & ? & ? & ? & ? & ? & ?\% \\
\checkmark & \checkmark & flow & ? & ? & ? & ? & ? & ? & ?\% \\
\multicolumn{4}{c}{Network} & \multicolumn{3}{c}{Instance Motion Error} & \multicolumn{2}{c}{Camera Motion Error} &\multicolumn{2}{c}{Optical Flow Error} \\
\cmidrule(lr){1-4}\cmidrule(lr){5-7}\cmidrule(l){8-9}\cmidrule(l){10-11}
FPN & cam. & sup. & XYZ & $E_{R}$ & $E_{t}$ & $E_{p}$ & $E_{R}^{cam}$ & $E_{t}^{cam}$ & AEE & Fl-all \\\midrule
$\times$ & $\times$ & 3D & & ? & ? & ? & - & - & ? & ?\% \\
\checkmark & $\times$ & 3D & & ? & ? & ? & - & - & ? & ?\% \\
$\times$ & \checkmark & 3D & & ? & ? & ? & ? & ? & ? & ?\% \\
\checkmark & \checkmark & 3D & & ? & ? & ? & ? & ? & ? & ?\% \\
$\times$ & $\times$ & flow & & ? & ? & ? & - & - & ? & ?\% \\
\checkmark & $\times$ & flow & & ? & ? & ? & - & - & ? & ?\% \\
$\times$ & \checkmark & flow & & ? & ? & ? & ? & ? & ? & ?\% \\
\checkmark & \checkmark & flow & & ? & ? & ? & ? & ? & ? & ?\% \\
\bottomrule
\end{tabular}
@ -147,9 +147,11 @@ only impacted by the predicted 3D object motions.
\label{table:vkitti}
\end{table}
}
Figure \ref{figure:vkitti} visualizes instance segmentation and optical flow
results on the Virtual KITTI validation set.
Table \ref{table:vkitti} compares the performance of different network variants on the Virtual KITTI validation
set.
\subsection{Evaluation on KITTI 2015}
\todo{add this if there is enough time}
\todo{if there is enough time,
add evaluation (table + visualizations) of instance segmentation and composed optical flow on RGB-D frames from KITTI 2015 train}