Colour Constrained 4D Flow

The addition of colour information to the computation of range/scene flow is proposed to improve its accuracy and robustness to ambiguities. This is applied in the form of additional optical flow constraints from aligned colour image data. Combining constraints gives improved velocity displacement fields for both synthetic and real datasets over using depth alone, or in using depth plus intensity. This ultimately has benefits for the processing of dense, temporal depth data obtainable from novel video-rate 3D capture systems.