Mobile Scene Flow Synthesis

Scene flow is the motion of the 3D world, it is used in obstacle avoidance, slow motion interpolation, surveillance, studying human behavior, and much more. A mobile implementation of scene flow can greatly increase the flexibility of scene flow applications. Furthermore, combining multiple scene flows to one panoramic scene flow can aid in these tasks: allowing coverage of dead spots in surveillance, studying human motion from multiple views, or simply obtain a larger motion view of a scene. In this paper, a robust algorithm for building panoramic scene flow obtained from a mobile device is described. Since scene flow is estimated from a mobile device, observer motion is compensated for using least squares fitting over the entire scene. Furthermore, noise is reduced and outliers are eliminated from the 3D motion field using motion model fitting. The results demonstrate the effectiveness of the suggested algorithm for constructing a scene flow panorama from moving sources.