Method

Zigzag Scanning based Zero-Means Normalized Cross-Correlation [Z2ZNCC]


Submitted on 7 Feb. 2021 15:39 by
Wesley Chang (AIST)

Running time:0.035s
Environment:Jetson TX2 GPU @ 1.0 Ghz (CUDA)

Method Description:
A novel acceleration approach for the well-known
matching cost calculation algorithm Zero-means
Normalized Cross Correlation which is combined with
Semi-global Matching algorithm.
Parameters:
ZNCC window: 5x5,
SGM : P1=18, P2=185,
Scaling Threshold Value: T=21.
Latex Bibtex:
@inproceedings{DBLP:conf/iccd/ChangZWLOM20,
author = {Qiong Chang},
title = {Z2-ZNCC: ZigZag Scanning based
Zero-means Normalized Cross Correlation
for Fast and Accurate Stereo
Matching on Embedded GPU},
booktitle = {38th {IEEE} International
Conference on Computer Design, {ICCD}},
pages = {597--600},
publisher = {{IEEE}},
year = {2020},
url =
{https://doi.org/10.1109/ICCD50377.2020.00104},
doi = {10.1109/ICCD50377.2020.00104},
timestamp = {Mon, 11 Jan 2021 13:35:29 +0100},
biburl =
{https://dblp.org/rec/conf/iccd/ChangZWLOM20.bib}
,
bibsource = {dblp computer science
bibliography, https://dblp.org}
}

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 6.55 13.19 7.65
All / Est 6.50 13.16 7.61
Noc / All 5.20 11.01 6.16
Noc / Est 5.19 11.01 6.15
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all
All / All 8.16 1.63 7.26
All / Est 8.12 1.63 7.23
Noc / All 6.69 1.63 5.98
Noc / Est 6.66 1.63 5.96
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 1

Error D1-bg D1-fg D1-all
All / All 4.65 7.73 4.99
All / Est 4.60 7.73 4.95
Noc / All 3.34 7.73 3.84
Noc / Est 3.31 7.73 3.81
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 2

Error D1-bg D1-fg D1-all
All / All 7.14 5.69 7.07
All / Est 7.12 5.69 7.05
Noc / All 5.70 5.69 5.70
Noc / Est 5.69 5.69 5.69
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 3

Error D1-bg D1-fg D1-all
All / All 8.64 11.17 8.88
All / Est 8.63 11.17 8.87
Noc / All 7.51 11.17 7.86
Noc / Est 7.51 11.17 7.85
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 4

Error D1-bg D1-fg D1-all
All / All 8.06 8.97 8.21
All / Est 7.97 8.97 8.13
Noc / All 6.43 8.97 6.86
Noc / Est 6.42 8.97 6.85
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 5

Error D1-bg D1-fg D1-all
All / All 14.00 10.69 13.70
All / Est 13.98 10.69 13.69
Noc / All 11.93 10.69 11.81
Noc / Est 11.92 10.69 11.81
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 6

Error D1-bg D1-fg D1-all
All / All 14.40 10.56 14.00
All / Est 14.40 10.56 13.99
Noc / All 12.91 10.56 12.66
Noc / Est 12.91 10.56 12.66
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 7

Error D1-bg D1-fg D1-all
All / All 7.44 10.22 7.98
All / Est 7.42 10.22 7.97
Noc / All 6.19 10.22 6.99
Noc / Est 6.17 10.22 6.97
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 8

Error D1-bg D1-fg D1-all
All / All 6.22 4.30 5.86
All / Est 6.21 4.30 5.85
Noc / All 6.17 4.30 5.83
Noc / Est 6.16 4.30 5.82
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 9

Error D1-bg D1-fg D1-all
All / All 7.84 6.66 7.54
All / Est 7.83 6.66 7.53
Noc / All 6.75 2.77 5.76
Noc / Est 6.74 2.77 5.75
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 10

Error D1-bg D1-fg D1-all
All / All 5.25 5.12 5.22
All / Est 5.24 5.12 5.21
Noc / All 4.05 5.12 4.30
Noc / Est 4.04 5.12 4.29
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 11

Error D1-bg D1-fg D1-all
All / All 4.08 2.14 3.73
All / Est 4.06 2.14 3.72
Noc / All 3.27 2.14 3.07
Noc / Est 3.26 2.14 3.06
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 12

Error D1-bg D1-fg D1-all
All / All 2.67 4.08 2.77
All / Est 2.67 4.08 2.77
Noc / All 1.73 4.08 1.89
Noc / Est 1.73 4.08 1.89
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 13

Error D1-bg D1-fg D1-all
All / All 2.36 1.19 2.21
All / Est 2.35 1.19 2.20
Noc / All 1.48 1.19 1.45
Noc / Est 1.47 1.19 1.44
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 14

Error D1-bg D1-fg D1-all
All / All 2.76 7.36 2.84
All / Est 2.75 7.36 2.83
Noc / All 1.92 7.36 2.01
Noc / Est 1.91 7.36 2.01
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 15

Error D1-bg D1-fg D1-all
All / All 7.09 6.27 7.02
All / Est 7.08 6.27 7.01
Noc / All 5.46 6.27 5.53
Noc / Est 5.45 6.27 5.52
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 16

Error D1-bg D1-fg D1-all
All / All 9.08 3.31 8.23
All / Est 9.04 3.31 8.19
Noc / All 8.25 3.31 7.51
Noc / Est 8.23 3.31 7.50
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 17

Error D1-bg D1-fg D1-all
All / All 3.49 1.27 3.26
All / Est 3.45 1.27 3.23
Noc / All 1.95 1.27 1.88
Noc / Est 1.94 1.27 1.87
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 18

Error D1-bg D1-fg D1-all
All / All 10.20 11.27 10.71
All / Est 10.17 11.27 10.69
Noc / All 8.78 11.27 9.98
Noc / Est 8.78 11.27 9.98
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 19

Error D1-bg D1-fg D1-all
All / All 3.52 4.88 3.67
All / Est 3.50 4.88 3.66
Noc / All 2.01 4.88 2.34
Noc / Est 2.00 4.88 2.33
This table as LaTeX

Input Image

D1 Result

D1 Error




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