Method

Max-Tree Stereo [MTS]
https://github.com/rbrandt1/MaxTreeS/tree/version_2.0

Submitted on 10 Jan. 2020 09:38 by
Remi Brandt (RUG)

Running time:1.7 s
Environment:4 cores @ 3.5 Ghz (C/C++)

Method Description:
MTStereo is based on a Max-tree hierarchical
representation of image pairs, which we use to
identify matching regions along image scan-lines.
We coupled it with a cost function that takes
into account region contextual information on the
Maxtrees and a cost aggregation method that
preserves disparity borders.
Parameters:
The number of color quantization levels was set
to 16. α was set to 0.8. The minimum (or maximum)
width of nodes to be matched was set to 0 (or 1/2
of the input image width). Matched node levels S
was set to {1, 0}. The maximum neighborhood size
ω_γ was set to 10. The size of the Gaussian
kernel used to aggregate the cost volume was 21.
The minimum confidence percentage parameter ω_Π
was set to 12. In guided pixel refinement, ω_ω
was set to 12% when sparse disparity maps were
generated.
Latex Bibtex:

Detailed Results

This page provides detailed results for the method(s) selected. For the first 20 test images, the percentage of erroneous pixels is depicted in the table. We use the error metric described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), which considers a pixel to be correctly estimated if the disparity or flow end-point error is <3px or <5% (for scene flow this criterion needs to be fulfilled for both disparity maps and the flow map). Underneath, the left input image, the estimated results and the error maps are shown (for disp_0/disp_1/flow/scene_flow, respectively). The error map uses the log-color scale described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), depicting correct estimates (<3px or <5% error) in blue and wrong estimates in red color tones. Dark regions in the error images denote the occluded pixels which fall outside the image boundaries. The false color maps of the results are scaled to the largest ground truth disparity values / flow magnitudes.

Test Set Average

Error D1-bg D1-fg D1-all
All / All 26.68 47.30 30.11
All / Est 7.55 9.00 7.83
Noc / All 26.05 45.96 29.34
Noc / Est 7.55 9.00 7.83
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all
All / All 25.50 17.91 24.46
All / Est 13.83 7.68 12.60
Noc / All 25.57 17.91 24.50
Noc / Est 13.83 7.68 12.60
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 1

Error D1-bg D1-fg D1-all
All / All 28.33 40.74 29.72
All / Est 11.47 11.11 11.39
Noc / All 27.80 40.74 29.27
Noc / Est 11.47 11.11 11.39
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 2

Error D1-bg D1-fg D1-all
All / All 26.27 36.32 26.76
All / Est 8.72 2.01 7.99
Noc / All 25.26 36.32 25.80
Noc / Est 8.72 2.01 7.99
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 3

Error D1-bg D1-fg D1-all
All / All 24.57 65.35 28.33
All / Est 11.37 4.69 11.27
Noc / All 24.01 65.35 27.88
Noc / Est 11.37 4.69 11.27
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 4

Error D1-bg D1-fg D1-all
All / All 32.13 13.79 29.09
All / Est 12.79 1.46 11.67
Noc / All 30.75 13.79 27.89
Noc / Est 12.79 1.46 11.67
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 5

Error D1-bg D1-fg D1-all
All / All 50.11 52.47 50.32
All / Est 12.07 10.65 11.85
Noc / All 48.90 52.47 49.23
Noc / Est 12.07 10.65 11.85
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 6

Error D1-bg D1-fg D1-all
All / All 49.92 37.61 48.62
All / Est 14.60 6.23 12.70
Noc / All 50.73 37.61 49.32
Noc / Est 14.60 6.23 12.70
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 7

Error D1-bg D1-fg D1-all
All / All 27.60 37.93 29.62
All / Est 9.03 6.84 8.44
Noc / All 27.22 37.93 29.35
Noc / Est 9.03 6.84 8.44
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 8

Error D1-bg D1-fg D1-all
All / All 24.36 41.84 27.59
All / Est 8.92 4.94 8.25
Noc / All 24.35 41.84 27.58
Noc / Est 8.92 4.94 8.25
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 9

Error D1-bg D1-fg D1-all
All / All 26.40 49.88 32.40
All / Est 7.39 5.55 6.89
Noc / All 26.01 47.71 31.42
Noc / Est 7.39 5.55 6.89
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 10

Error D1-bg D1-fg D1-all
All / All 13.85 45.49 21.07
All / Est 8.19 5.99 7.72
Noc / All 13.70 45.49 21.04
Noc / Est 8.19 5.99 7.72
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 11

Error D1-bg D1-fg D1-all
All / All 13.50 62.61 22.32
All / Est 5.98 8.09 6.26
Noc / All 13.30 62.61 22.22
Noc / Est 5.98 8.09 6.26
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 12

Error D1-bg D1-fg D1-all
All / All 21.63 24.31 21.81
All / Est 5.20 3.87 5.04
Noc / All 20.92 24.31 21.15
Noc / Est 5.20 3.87 5.04
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 13

Error D1-bg D1-fg D1-all
All / All 23.73 85.49 31.31
All / Est 5.66 0.00 5.63
Noc / All 22.93 85.49 30.68
Noc / Est 5.66 0.00 5.63
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 14

Error D1-bg D1-fg D1-all
All / All 21.93 20.80 21.91
All / Est 5.49 1.92 5.34
Noc / All 21.18 20.80 21.18
Noc / Est 5.49 1.92 5.34
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 15

Error D1-bg D1-fg D1-all
All / All 22.44 29.40 23.07
All / Est 5.01 3.79 4.76
Noc / All 22.14 29.40 22.81
Noc / Est 5.01 3.79 4.76
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 16

Error D1-bg D1-fg D1-all
All / All 26.29 31.74 27.09
All / Est 5.86 3.72 5.44
Noc / All 25.93 31.74 26.79
Noc / Est 5.86 3.72 5.44
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 17

Error D1-bg D1-fg D1-all
All / All 16.19 31.27 17.76
All / Est 5.75 1.91 5.17
Noc / All 15.43 31.27 17.10
Noc / Est 5.75 1.91 5.17
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 18

Error D1-bg D1-fg D1-all
All / All 30.08 50.07 39.58
All / Est 9.95 9.17 9.69
Noc / All 29.26 50.07 39.24
Noc / Est 9.95 9.17 9.69
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 19

Error D1-bg D1-fg D1-all
All / All 15.82 17.91 16.06
All / Est 7.93 4.41 7.43
Noc / All 15.79 17.91 16.03
Noc / Est 7.93 4.41 7.43
This table as LaTeX

Input Image

D1 Result

D1 Error




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