Method

Real-time Stereo Matching with a Hierarchical Refinement [MBFnet]
[Anonymous Submission]

Submitted on 30 Oct. 2019 07:57 by
[Anonymous Submission]

Running time:0.05 s
Environment:GPU @ GTX 2070 (Pytorch)

Method Description:
A real-time stereo matching with a coarse-to-fine fashion is proposed, which initializes the disparity map at the low-resolution level and gradually restores the spatial resolution of the disparity map. The algorithm uses a lightweight backbone network to extract multi-scale features, and at the same time the features are inversely fused to improve the robustness of the features while ensuring the real-time performance. A multi-branch fusion module is proposed to progressively refine the disparity map. The multi-modes of different regions are automatically clustered and processed separately, and then the final result is combined according to the cluster weights, so that the regions with different characteristic can be better processed.
Parameters:
\Scale=0.5,\Branch=5
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 2.59 4.80 2.96
All / Est 2.59 4.80 2.96
Noc / All 2.22 4.14 2.54
Noc / Est 2.22 4.14 2.54
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all
All / All 2.02 1.02 1.88
All / Est 2.02 1.02 1.88
Noc / All 1.86 1.02 1.74
Noc / Est 1.86 1.02 1.74
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 1

Error D1-bg D1-fg D1-all
All / All 2.97 3.63 3.05
All / Est 2.97 3.63 3.05
Noc / All 2.87 3.63 2.95
Noc / Est 2.87 3.63 2.95
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 2

Error D1-bg D1-fg D1-all
All / All 3.86 8.35 4.08
All / Est 3.86 8.35 4.08
Noc / All 3.57 8.35 3.81
Noc / Est 3.57 8.35 3.81
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 3

Error D1-bg D1-fg D1-all
All / All 4.56 0.78 4.21
All / Est 4.56 0.78 4.21
Noc / All 4.35 0.78 4.01
Noc / Est 4.35 0.78 4.01
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 4

Error D1-bg D1-fg D1-all
All / All 3.80 4.21 3.87
All / Est 3.80 4.21 3.87
Noc / All 3.59 4.21 3.70
Noc / Est 3.59 4.21 3.70
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 5

Error D1-bg D1-fg D1-all
All / All 5.15 2.02 4.87
All / Est 5.15 2.02 4.87
Noc / All 4.02 2.02 3.83
Noc / Est 4.02 2.02 3.83
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 6

Error D1-bg D1-fg D1-all
All / All 4.81 1.29 4.44
All / Est 4.81 1.29 4.44
Noc / All 4.79 1.29 4.41
Noc / Est 4.79 1.29 4.41
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 7

Error D1-bg D1-fg D1-all
All / All 1.00 9.28 2.62
All / Est 1.00 9.28 2.62
Noc / All 0.82 9.28 2.49
Noc / Est 0.82 9.28 2.49
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 8

Error D1-bg D1-fg D1-all
All / All 0.70 2.49 1.03
All / Est 0.70 2.49 1.03
Noc / All 0.69 2.49 1.02
Noc / Est 0.69 2.49 1.02
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 9

Error D1-bg D1-fg D1-all
All / All 0.90 2.35 1.27
All / Est 0.90 2.35 1.27
Noc / All 0.79 2.11 1.12
Noc / Est 0.79 2.11 1.12
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 10

Error D1-bg D1-fg D1-all
All / All 1.09 3.34 1.61
All / Est 1.09 3.34 1.61
Noc / All 0.94 3.34 1.49
Noc / Est 0.94 3.34 1.49
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 11

Error D1-bg D1-fg D1-all
All / All 0.73 0.45 0.68
All / Est 0.73 0.45 0.68
Noc / All 0.70 0.45 0.66
Noc / Est 0.70 0.45 0.66
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 12

Error D1-bg D1-fg D1-all
All / All 0.77 1.05 0.79
All / Est 0.77 1.05 0.79
Noc / All 0.66 1.05 0.68
Noc / Est 0.66 1.05 0.68
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 13

Error D1-bg D1-fg D1-all
All / All 0.80 0.43 0.75
All / Est 0.80 0.43 0.75
Noc / All 0.65 0.43 0.62
Noc / Est 0.65 0.43 0.62
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 14

Error D1-bg D1-fg D1-all
All / All 1.65 0.96 1.64
All / Est 1.65 0.96 1.64
Noc / All 1.47 0.96 1.46
Noc / Est 1.47 0.96 1.46
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 15

Error D1-bg D1-fg D1-all
All / All 3.81 0.09 3.48
All / Est 3.81 0.09 3.48
Noc / All 3.73 0.09 3.40
Noc / Est 3.73 0.09 3.40
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 16

Error D1-bg D1-fg D1-all
All / All 4.99 0.46 4.32
All / Est 4.99 0.46 4.32
Noc / All 4.66 0.46 4.04
Noc / Est 4.66 0.46 4.04
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 17

Error D1-bg D1-fg D1-all
All / All 1.67 0.26 1.52
All / Est 1.67 0.26 1.52
Noc / All 1.55 0.26 1.41
Noc / Est 1.55 0.26 1.41
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 18

Error D1-bg D1-fg D1-all
All / All 5.78 2.67 4.30
All / Est 5.78 2.67 4.30
Noc / All 5.68 2.67 4.24
Noc / Est 5.68 2.67 4.24
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 19

Error D1-bg D1-fg D1-all
All / All 1.26 0.59 1.18
All / Est 1.26 0.59 1.18
Noc / All 1.23 0.59 1.15
Noc / Est 1.23 0.59 1.15
This table as LaTeX

Input Image

D1 Result

D1 Error




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