Stereo Evaluation 2012


The stereo / flow benchmark consists of 194 training image pairs and 195 test image pairs, saved in loss less png format. Our evaluation server computes the average number of bad pixels for all non-occluded or occluded (=all groundtruth) pixels. We require that all methods use the same parameter set for all test pairs. Our development kit provides details about the data format as well as MATLAB / C++ utility functions for reading and writing disparity maps and flow fields.

Our evaluation table ranks all methods according to the number of non-occluded erroneous pixels at the specified disparity / end-point error threshold. All methods providing less than 100 % density have been interpolated using simple background interpolation as explained in the corresponding header file in the development kit. For each method we show:

  • Out-Noc: Percentage of erroneous pixels in non-occluded areas
  • Out-All: Percentage of erroneous pixels in total
  • Avg-Noc: Average disparity / end-point error in non-occluded areas
  • Avg-All: Average disparity / end-point error in total
  • Density: Percentage of pixels for which ground truth has been provided by the method

Note: On 04.11.2013 we have improved the ground truth disparity maps and flow fields leading to slightly improvements for all methods. Please download the stereo/flow dataset with the improved ground truth for training again, if you have downloaded the dataset prior to 04.11.2013. Please consider reporting these new number for all future submissions. Links to last leaderboards before the updates: stereo and flow!

Important Policy Update: As more and more non-published work and re-implementations of existing work is submitted to KITTI, we have established a new policy: from now on, only submissions with significant novelty that are leading to a peer-reviewed paper in a conference or journal are allowed. Minor modifications of existing algorithms or student research projects are not allowed. Such work must be evaluated on a split of the training set. To ensure that our policy is adopted, new users must detail their status, describe their work and specify the targeted venue during registration. Furthermore, we will regularly delete all entries that are 6 months old but are still anonymous or do not have a paper associated with them. For conferences, 6 month is enough to determine if a paper has been accepted and to add the bibliography information. For longer review cycles, you need to resubmit your results.
Additional information used by the methods
  • Flow: Method uses optical flow (2 temporally adjacent images)
  • Multiview: Method uses more than 2 temporally adjacent images
  • Motion stereo: Method uses epipolar geometry for computing optical flow
  • Additional training data: Use of additional data sources for training (see details)

Table        Error threshold        Evaluation area

Method Setting Code Out-Noc Out-All Avg-Noc Avg-All Density Runtime Environment
1 WAFT-Stereo 0.77 % 0.95 % 0.3 px 0.4 px 100.00 % 0.1 s 1 core @ 2.5 Ghz (Python)
2 DispArbiter 0.78 % 1.06 % 0.3 px 0.4 px 100.00 % 1 s GPU @ 2.5 Ghz (Python)
3 FORCE++ 0.79 % 0.99 % 0.3 px 0.4 px 100.00 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
4 MonSter++ code 0.79 % 1.07 % 0.3 px 0.4 px 100.00 % 0.45 s GPU @ 2.5 Ghz (Python)
J. Cheng, W. Liao, Z. Cai, L. Liu, G. Xu, X. Wang, Y. Wang, Z. Yuan, Y. Deng, J. Zang, Y. Shi, J. Tang and X. Yang: MonSter++: Unified Stereo Matching, Multi-view Stereo, and Real-time Stereo with Monodepth Priors. 2025.
5 MAF++ 0.80 % 1.07 % 0.3 px 0.4 px 100.00 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
6 LACA1 code 0.80 % 1.00 % 0.3 px 0.4 px 100.00 % 0.24 s 1 core @ 2.5 Ghz (C/C++)
7 MT 0.80 % 1.11 % 0.3 px 0.4 px 100.00 % 0.45 s GPU @ 2.5 Ghz (Python)
8 DispViT+ 0.82 % 1.02 % 0.3 px 0.4 px 100.00 % 0.15 s 1 core @ 2.5 Ghz (Python)
9 FORCE-Stereo 0.82 % 0.99 % 0.3 px 0.4 px 100.00 % 0.11 s Pytorch @ NVIDIA L20
10 test1 0.83 % 1.07 % 0.4 px 0.4 px 100.00 % 0.67 s GPU @ 2.5 Ghz (Python)
11 BridgeDepth code 0.83 % 1.03 % 0.4 px 0.4 px 100.00 % 0.13 s Pytorch@NVIDIA RTX 3090
T. Guan, J. Guo, C. Wang and Y. Liu: BridgeDepth: Bridging Monocular and Stereo Reasoning with Latent Alignment. ICCV 2025 Highlight.
12 MonSter code 0.84 % 1.09 % 0.4 px 0.4 px 100.00 % 0.45 s 1 core @ 2.5 Ghz (Python)
J. Cheng, L. Liu, G. Xu, Z. Cai and X. Yang: MonSter: Marry Monodepth to Stereo Unleashes Power. CVPR 2025 Highlight.
13 PromptStereo code 0.84 % 1.09 % 0.3 px 0.4 px 100.00 % 0.21 s 1 core @ 2.5 Ghz (Python)
X. Wang, H. Yang, H. Wang, J. Cheng, G. Xu, M. Lin and X. Yang: PromptStereo: Zero-Shot Stereo Matching via Structure and Motion Prompts. arXiv preprint arXiv:2603.01650 2026.
14 CR-Stereo 0.84 % 1.03 % 0.3 px 0.4 px 100.00 % 0.14 s 1 core @ 2.5 Ghz (Python)
15 GREAT-IGEV-DepthAny code 0.85 % 1.13 % 0.4 px 0.4 px 100.00 % 0.43 s GPU @ 2.5 Ghz (Python)
J. Li, X. Chen, Z. Jiang, Q. Zhou, Y. Li and J. Wang: Global regulation and excitation via attention tuning for stereo matching. Proceedings of the IEEE/CVF International Conference on Computer Vision 2025.
16 LACA_DC code 0.85 % 1.05 % 0.3 px 0.4 px 100.00 % 0.24 s 1 core @ 2.5 Ghz (C/C++)
17 MGS-Selective 0.85 % 1.13 % 0.4 px 0.4 px 100.00 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
18 MCSU-Stereo 0.85 % 1.19 % 0.3 px 0.4 px 100.00 % 0.43 s 1 core @ 2.5 Ghz (C/C++)
19 tt 0.85 % 1.05 % 0.3 px 0.4 px 100.00 % 0.24 s 1 core @ 2.5 Ghz (C/C++)
20 LACA code 0.86 % 1.04 % 0.3 px 0.4 px 100.00 % 0.24 s GPU @ 2.5 Ghz (Python)
21 CR-Stereo-plus 0.86 % 1.05 % 0.3 px 0.4 px 100.00 % 0.13 s 1 core @ 2.5 Ghz (C/C++)
22 CIRNet 0.86 % 1.14 % 0.4 px 0.4 px 100.00 % 0.01 s GPU @ 2.5 Ghz (C/C++)
23 MatchAttention code 0.87 % 1.14 % 0.3 px 0.4 px 100.00 % 0.05 s GPU @ 2.5 Ghz (Python + C/C++)
T. Yan, T. Liu, X. Yang, Q. Zhao and Z. Xia: MatchAttention: Matching the Relative Positions for High-Resolution Cross-View Matching. arXiv preprint arXiv:2510.14260 2025.
24 MSCA-IGEV 0.87 % 1.14 % 0.3 px 0.4 px 100.00 % 0.2 s GPU @ 3.0 Ghz (Python)
25 Unrectified stereo 0.88 % 1.17 % 0.4 px 0.4 px 100.00 % 0.9 s 1 core @ 2.5 Ghz (Python)
26 IGEV++ (DepthAny.) code 0.89 % 1.13 % 0.4 px 0.4 px 100.00 % 0.48 s NVIDIA RTX 3090 (PyTorch)
G. Xu, X. Wang, Z. Zhang, J. Cheng, C. Liao and X. Yang: IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matching. IEEE TPAMI 2025.
27 SCION-MonSter 0.89 % 1.14 % 0.4 px 0.4 px 100.00 % 0.11 s GPU @ 2.5 Ghz (Python + C/C++)
28 mastereo 0.90 % 1.10 % 0.4 px 0.4 px 100.00 % 0.15 s 1 core @ 2.5 Ghz (Python)
29 StereoFlow_test0 0.91 % 1.17 % 0.3 px 0.4 px 100.00 % 0.52 s GPU @ 2.5 Ghz (Python)
30 HCCV-Stereo 0.93 % 1.17 % 0.4 px 0.4 px 100.00 % 0.60 s 1 core @ 2.5 Ghz (C/C++)
31 ViTAStereo code 0.93 % 1.16 % 0.4 px 0.4 px 100.00 % 0.22 s NVIDIA RTX 4090 (PyTorch)
C. Liu, Q. Chen and R. Fan: Playing to Vision Foundation Model's Strengths in Stereo Matching. IEEE Transactions on Intelligent Vehicles 2024.
32 DEFOM-Stereo code 0.94 % 1.18 % 0.3 px 0.4 px 100.00 % 0.30 s 1 core @ 2.5 Ghz (Python)
H. Jiang, Z. Lou, L. Ding, R. Xu, M. Tan, W. Jiang and R. Huang: DEFOM-Stereo: Depth Foundation Model Based Stereo Matching. IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2025.
33 mlt 0.94 % 1.28 % 0.4 px 0.4 px 100.00 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
34 GREAT-IGEV (Solid) code 0.95 % 1.32 % 0.4 px 0.4 px 100.00 % 0.33 s GPU @ 2.5 Ghz (Python)
J. Li, X. Chen, Z. Jiang, Q. Zhou, Y. Li and J. Wang: Global regulation and excitation via attention tuning for stereo matching. Proceedings of the IEEE/CVF International Conference on Computer Vision 2025.
35 S-IGEV-ICAE 0.95 % 1.21 % 0.4 px 0.4 px 100.00 % 0.251 s 1 core @ 2.5 Ghz (C/C++)
36 frequence-stereo 0.96 % 1.31 % 0.4 px 0.4 px 100.00 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
37 GANet+ADL code 0.98 % 1.29 % 0.4 px 0.5 px 100.00 % 0.67 s NVIDIA RTX 3090 (PyTorch)
P. Xu, Z. Xiang, C. Qiao, J. Fu and T. Pu: Adaptive Multi-Modal Cross-Entropy Loss for Stereo Matching. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024.
38 DS-Stereo code 0.98 % 1.34 % 0.4 px 0.4 px 100.00 % 0.35 s 1 core @ 2.5 Ghz (Python)
J. Lin, J. Du and H. Wang: DS-Stereo: Deep-Shallow Information Interaction for Stereo Matching. IEEE Robotics and Automation Letters 2025.
39 MoCha-V2 code 0.98 % 1.24 % 0.4 px 0.4 px 100.00 % 0.28 s NVIDIA Tesla A30 (PyTorch)
Z. Chen, Y. Zhang, W. Li, B. Wang, Y. Zhao and C. Chen: Motif Channel Opened in a White-Box: Stereo Matching via Motif Correlation Graph. arXiv preprint arXiv:2411.12426 2024.
Z. Chen, W. Long, H. Yao, Y. Zhang, B. Wang, Y. Qin and J. Wu: MoCha-Stereo: Motif Channel Attention Network for Stereo Matching. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024.
40 dpt_FFLO-Net 0.99 % 1.24 % 0.4 px 0.4 px 100.00 % 0.21 s GPU @ 2.5 Ghz (Python)
41 RiskMin code 1.00 % 1.44 % 0.4 px 0.5 px 100.00 % 0.20 s GPU @ 2.5 Ghz (Python)
C. Liu, S. Kumar, S. Gu, R. Timofte, Y. Yao and L. Gool: Stereo Risk: A Continuous Modeling Approach to Stereo Matching. Forty-first International Conference on Machine Learning (ICML 2024) 2024.
42 StereoBase code 1.00 % 1.26 % 0.4 px 0.4 px 100.00 % 0.29 s GPU @ 1.5 Ghz (Python)
X. Guo, J. Lu, C. Zhang, Y. Wang, Y. Duan, T. Yang, Z. Zhu and L. Chen: OpenStereo: A Comprehensive Benchmark for Stereo Matching and Strong Baseline. arXiv preprint arXiv:2312.00343 2023.
43 masm 1.00 % 1.32 % 0.4 px 0.4 px 100.00 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
44 E$^{3}$Stereo 1.00 % 1.32 % 0.4 px 0.4 px 100.00 % 0.14 s 1 core @ 2.5 Ghz (C/C++)
45 CA-IGEV code 1.01 % 1.34 % 0.4 px 0.4 px 100.00 % 0.05 s GPU @ 2.5 Ghz (Python)
J. Zhou, J. Zou, Y. Qiu, Z. Liu, J. Hao, W. Li and Y. Yu: Marrying polarization to stereo: Real- time stereo matching via polarimetric cues. Neurocomputing 2026.
46 VIP-Stereo 1.01 % 1.31 % 0.4 px 0.4 px 100.00 % 0.40 s 1 core @ 2.5 Ghz (C/C++)
47 MDR-Stereo 1.01 % 1.26 % 0.4 px 0.4 px 100.00 % 0.6 s 1 core @ 2.5 Ghz (Python)
48 NMRF-Stereo code 1.01 % 1.35 % 0.4 px 0.4 px 100.00 % 0.09 s NVIDIA RTX 3090 (PyTorch)
T. Guan, C. Wang and Y. Liu: Neural Markov Random Field for Stereo Matching. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024.
49 GREAT-IGEV code 1.02 % 1.37 % 0.4 px 0.4 px 100.00 % 0.33 s NVIDIA RTX 3090 (PyTorch)
J. Li, X. Chen, Z. Jiang, Q. Zhou, Y. Li and J. Wang: Global regulation and excitation via attention tuning for stereo matching. Proceedings of the IEEE/CVF International Conference on Computer Vision 2025.
50 4D-IteraStereo 1.02 % 1.37 % 0.4 px 0.4 px 100.00 % 0.3 s GPU @ 1.5 Ghz (Python)
G. Han, S. Shan, Y. Xu, K. Zhang and H. Wei: 4D-IteraStereo: Stereo Matching via 4D Cost Volume Aggregation and Iterative Optimization. Measurement Science and Technology 2025.
51 NLCSM 1.02 % 1.32 % 0.4 px 0.4 px 100.00 % 0.9 s 1 core @ 2.5 Ghz (C/C++)
52 ACVNet-ICAE 1.02 % 1.32 % 0.4 px 0.4 px 100.00 % 0.218 1 core @ 2.5 Ghz (C/C++)
53 DN+ACVNet 1.02 % 1.41 % 0.4 px 0.5 px 100.00 % 0.24 s 1 core @ 2.5 Ghz (C/C++)
J. Zhang, L. Huang, X. Bai, J. Zheng, L. Gu and E. Hancock: Exploring the Usage of Pre-trained Features for Stereo Matching. International Journal of Computer Vision 2024.
54 PGA-Stereo 1.02 % 1.31 % 0.4 px 0.4 px 100.00 % 0.9 s 1 core @ 2.5 Ghz (Python)
55 IGEV++ code 1.04 % 1.36 % 0.4 px 0.4 px 100.00 % 0.28 s NVIDIA RTX 3090 (PyTorch)
G. Xu, X. Wang, Z. Zhang, J. Cheng, C. Liao and X. Yang: IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matching. IEEE TPAMI 2025.
56 MC-Stereo code 1.04 % 1.34 % 0.4 px 0.4 px 100.00 % 0.40 s GPU @ 2.5 Ghz (Python)
M. Feng, J. Cheng, H. Jia, L. Liu, G. Xu and X. Yang: MC-Stereo: Multi-peak Lookup and Cascade Search Range for Stereo Matching. International Conference on 3D Vision (3DV) 2024.
57 PCWNet code 1.04 % 1.37 % 0.4 px 0.5 px 100.00 % 0.44 s 1 core @ 2.5 Ghz (C/C++)
Z. Shen, Y. Dai, X. Song, Z. Rao, D. Zhou and L. Zhang: PCW-Net: Pyramid Combination and Warping Cost Volume for Stereo Matching. European Conference on Computer Vision(ECCV) 2022.
58 LaC+GANet code 1.05 % 1.42 % 0.4 px 0.5 px 100.00 % 1.8 s 1 core @ 2.5 Ghz (C/C++)
B. Liu, H. Yu and Y. Long: Local Similarity Pattern and Cost Self- Reassembling for Deep Stereo Matching Networks. Proceedings of the AAAI Conference on Artificial Intelligence 2022.
59 bls 1.05 % 1.39 % 0.4 px 0.4 px 100.00 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
60 AIO-Stereo 1.05 % 1.29 % 0.4 px 0.4 px 100.00 % 0.20 s GPU @ 2.5 Ghz (Python)
J. Zhou, H. Zhang, J. Yuan, P. Ye, T. Chen, H. Jiang, M. Chen and Y. Zhang: All-in-One: Transferring Vision Foundation Models into Stereo Matching. arXiv preprint arXiv:2412.09912 2024.
61 UGIA-Selective 1.05 % 1.36 % 0.4 px 0.4 px 100.00 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
W. Xiao and W. Zhao: SR-Stereo \& DAPE: Stepwise Regression and Pre-Trained Edges for Practical Stereo Matching. IEEE Transactions on Intelligent Transportation Systems 2025.
W. Xiao and W. Zhao: Rectified Iterative Disparity for Stereo Matching. arXiv preprint arXiv:2406.10943 2024.
62 ICVP code 1.06 % 1.39 % 0.4 px 0.5 px 100.00 % 0.17 s GPU @ 1.5 Ghz (Python)
O. Kwon and E. Zell: Image-Coupled Volume Propagation for Stereo Matching. 2023 IEEE International Conference on Image Processing (ICIP) 2023.
63 VMStereo-Base 1.06 % 1.35 % 0.4 px 0.4 px 100.00 % 0.02 s GPU @ 2.5 Ghz (Python)
64 MoCha-Stereo code 1.06 % 1.36 % 0.4 px 0.4 px 100.00 % 0.33 s NVIDIA Tesla A6000 (PyTorch)
Z. Chen, W. Long, H. Yao, Y. Zhang, B. Wang, Y. Qin and J. Wu: MoCha-Stereo: Motif Channel Attention Network for Stereo Matching. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024.
65 DMIO 1.07 % 1.38 % 0.4 px 0.4 px 100.00 % 0.3 s 1 core @ 2.5 Ghz (Python)
Y. Shi: Rethinking Iterative Stereo Matching from Diffusion Bridge Model Perspective. arXiv preprint arXiv:2404.09051 2024.
66 Selective-IGEV code 1.07 % 1.38 % 0.4 px 0.4 px 100.00 % 0.24 s 1 core @ 2.5 Ghz (Python)
X. Wang, G. Xu, H. Jia and X. Yang: Selective-Stereo: Adaptive Frequency Information Selection for Stereo Matching. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024.
67 RT-MonSter++ 1.07 % 1.41 % 0.4 px 0.4 px 100.00 % 0.05 s 1 core @ 2.5 Ghz (Python)
68 SR Stereo 1.09 % 1.36 % 0.4 px 0.4 px 100.00 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
W. Xiao and W. Zhao: SR-Stereo \& DAPE: Stepwise Regression and Pre-Trained Edges for Practical Stereo Matching. IEEE Transactions on Intelligent Transportation Systems 2025.
69 Lite Any Stereo code 1.09 % 1.49 % 0.4 px 0.5 px 100.00 % 0.02 s GPU @ 1.0 Ghz (Python)
J. Jing, W. Luo, Y. Mao and K. Mikolajczyk: Lite Any Stereo: Efficient Zero-Shot Stereo Matching. arXiv:2511.16555 2025.
70 HCR 1.09 % 1.42 % 0.4 px 0.4 px 100.00 % 0.19 s GPU @ 2.5 Ghz (Python)
Y. Tuming Yuan: Hourglass cascaded recurrent stereo matching network. Image and Vision computing 2024.
71 UCFNet code 1.09 % 1.45 % 0.4 px 0.5 px 100.00 % 0.21 s 1 core @ 2.5 Ghz (C/C++)
Z. Shen, X. Song, Y. Dai, D. Zhou, Z. Rao and L. Zhang: Digging Into Uncertainty-Based Pseudo- Label for Robust Stereo Matching. IEEE Transactions on Pattern Analysis and Machine Intelligence 2023.
72 IMIF-stereo 1.10 % 1.42 % 0.4 px 0.4 px 100.00 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
73 LoS 1.10 % 1.38 % 0.4 px 0.4 px 100.00 % 0.19 s 1 core @ 2.5 Ghz (Python)
K. Li, L. Wang, Y. Zhang, K. Xue, S. Zhou and Y. Guo: LoS: Local Structure Guided Stereo Matching. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024.
74 GGEV 1.10 % 1.44 % 0.4 px 0.4 px 100.00 % 0.04 s 1 core @ 2.5 Ghz (Python)
75 Selective-RAFT code 1.10 % 1.43 % 0.4 px 0.5 px 100.00 % 0.45 s 1 core @ 2.5 Ghz (Python)
X. Wang, G. Xu, H. Jia and X. Yang: Selective-Stereo: Adaptive Frequency Information Selection for Stereo Matching. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024.
76 HART code 1.11 % 1.38 % 0.4 px 0.4 px 100.00 % 0.34 s NVIDIA Tesla A100 (Python)
Z. Chen, Y. Zhang, W. Li, B. Wang, Y. Wu, Y. Zhao and C. Chen: Hadamard Attention Recurrent Transformer: A Strong Baseline for Stereo Matching Transformer. arXiv preprint arXiv:2501.01023 2025.
77 MSCA-stereo 1.11 % 1.44 % 0.4 px 0.4 px 100.00 % 0.4 s GPU @ 2.5 Ghz (Python)
78 NLCA-Net v2 code 1.11 % 1.46 % 0.4 px 0.5 px 100.00 % 0.67 s GPU @ >3.5 Ghz (Python)
Z. Rao, D. Yuchao, S. Zhelun and H. Renjie: Rethinking Training Strategy in Stereo Matching. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS .
79 IGEV-Stereo(32) code 1.12 % 1.43 % 0.4 px 0.4 px 100.00 % 0.32 s NVIDIA RTX 3090 (PyTorch)
G. Xu, X. Wang, X. Ding and X. Yang: Iterative Geometry Encoding Volume for Stereo Matching. CVPR 2023.
80 FSU-Stereo 1.12 % 1.49 % 0.4 px 0.5 px 100.00 % 0.2 s 1 core @ 2.5 Ghz (Python)
81 SG-IGEV 1.12 % 1.39 % 0.4 px 0.4 px 100.00 % 1 s 1 core @ 2.5 Ghz (C/C++)
B. Pan, j. jiao, B. Yao, J. Pang and J. Cheng: The Sampling-Gaussian for stereo matching. 2024.
82 IGEV-Stereo 1.12 % 1.44 % 0.4 px 0.4 px 100.00 % 0.18 s NVIDIA RTX 3090 (PyTorch)
G. Xu, X. Wang, X. Ding and X. Yang: Iterative Geometry Encoding Volume for Stereo Matching. CVPR 2023.
83 LaC+GwcNet code 1.13 % 1.49 % 0.5 px 0.5 px 100.00 % 0.65 s GPU @ 2.5 Ghz (Python)
B. Liu, H. Yu and Y. Long: Local Similarity Pattern and Cost Self- Reassembling for Deep Stereo Matching Networks. Proceedings of the AAAI Conference on Artificial Intelligence 2022.
84 ACVNet code 1.13 % 1.47 % 0.4 px 0.5 px 100.00 % 0.2 s NVIDIA RTX 3090 (PyTorch)
G. Xu, J. Cheng, P. Guo and X. Yang: Attention Concatenation Volume for Accurate and Efficient Stereo Matching. CVPR 2022.
85 LEAStereo code 1.13 % 1.45 % 0.5 px 0.5 px 100.00 % 0.3 s GPU @ 2.5 Ghz (Python)
X. Cheng, Y. Zhong, M. Harandi, Y. Dai, X. Chang, H. Li, T. Drummond and Z. Ge: Hierarchical Neural Architecture Search for Deep Stereo Matching. Advances in Neural Information Processing Systems 2020.
86 NFMRF 1.14 % 1.47 % 0.4 px 0.5 px 100.00 % 0.09 s GPU @ 2.5 Ghz (Python)
87 CREStereo code 1.14 % 1.46 % 0.4 px 0.5 px 100.00 % 0.40 s GPU @ >3.5 Ghz (C/C++)
J. Li, P. Wang, P. Xiong, T. Cai, Z. Yan, L. Yang, J. Liu, H. Fan and S. Liu: Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlation. 2022.
88 CIRNet 1.14 % 1.52 % 0.4 px 0.5 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
89 MMBStereo 1.15 % 1.55 % 0.4 px 0.5 px 100.00 % 51ms GPU @ 2.0 Ghz (Python)
90 HSGC-Stereo2 1.17 % 1.52 % 0.4 px 0.5 px 100.00 % 0.63 s 1 core @ 2.5 Ghz (Python)
91 [ICCV 2025] DKT-SMoE code 1.17 % 1.56 % 0.4 px 0.5 px 100.00 % 0.20 s 1 core @ 2.5 Ghz (C/C++)
J. Yun Wang: learning robust stereo matching in the wild with selective mixture-of-experts. arXiv preprint arXiv:2507.04631 2025.
92 AcfNet code 1.17 % 1.54 % 0.5 px 0.5 px 100.00 % 0.48 s 1 core @ 2.5 Ghz (Python)
Y. Zhang, Y. Chen, X. Bai, S. Yu, K. Yu, Z. Li and K. Yang: Adaptive Unimodal Cost Volume Filtering for Deep Stereo Matching. AAAI 2020.
93 DSIGA 1.17 % 1.51 % 0.4 px 0.5 px 100.00 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
94 Abc-Net 1.18 % 1.59 % 0.4 px 0.5 px 100.00 % 0.72 s 4 cores @ 2.5 Ghz (Python)
X. Li, Y. Fan, G. Lv and H. Ma: Area-based correlation and non-local attention network for stereo matching. The Visual Computer 2021.
95 CAL-Net 1.19 % 1.53 % 0.4 px 0.5 px 100.00 % 0.44 s 4 cores @ 2.5 Ghz (Python)
S. Chen, B. Li, W. Wang, H. Zhang, H. Li and Z. Wang: Cost Affinity Learning Network for Stereo Matching. IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2021, Toronto, ON, Canada, June 6-11, 2021 2021.
96 blur-stereo 1.19 % 1.57 % 0.4 px 0.5 px 100.00 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
97 GANet-deep code 1.19 % 1.60 % 0.4 px 0.5 px 100.00 % 1.8 s GPU @ 2.5 Ghz (Python)
F. Zhang, V. Prisacariu, R. Yang and P. Torr: GA-Net: Guided Aggregation Net for End-to-end Stereo Matching. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
98 GMCR 1.19 % 1.53 % 0.4 px 0.5 px 100.00 % 0.5 s GPU @ 2.5 Ghz (Python)
99 HSGC-Stereo 1.19 % 1.46 % 0.4 px 0.5 px 100.00 % 0.59s GPU @ 2.5 Ghz (Python)
100 OptStereo 1.20 % 1.61 % 0.4 px 0.5 px 100.00 % 0.10 s GPU @ 2.5 Ghz (Python)
H. Wang, R. Fan, P. Cai and M. Liu: PVStereo: Pyramid voting module for end-to-end self-supervised stereo matching. IEEE Robotics and Automation Letters 2021.
101 GHUStereo code 1.21 % 1.61 % 0.4 px 0.5 px 100.00 % 0.036 s RTX 4070 (Python)
M. Tahmasebi, S. Huq, K. Meehan and M. McAfee: GHUStereo: A Lightweight Real-Time Stereo Matching Network with Guided Hourglass Up-Sampling. SSRN Electronic Journal 2025.
102 NLCA-Net-3 code 1.21 % 1.60 % 0.4 px 0.5 px 100.00 % 0.44 s GPU @ 2.5 Ghz (Python)
Z. Rao, M. He, Y. Dai, Z. Zhu, B. Li and R. He: NLCA-Net: a non-local context attention network for stereo matching. APSIPA Transactions on Signal and Information Processing 2020.
103 WIDR 1.22 % 1.65 % 0.5 px 0.5 px 100.00 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
104 G2L-Stereo 1.22 % 1.57 % 0.4 px 0.5 px 100.00 % 0.05 s GPU @ 1.5 Ghz (Python)
J. Tang, G. Peng, J. Liu and B. Yu: G2L-Stereo: Global to Local Two-Stage Real- Time Stereo Matching Network. IEEE Transactions on Computational Imaging 2025.
105 CFNet code 1.23 % 1.58 % 0.4 px 0.5 px 100.00 % 0.18 s 1 core @ 2.5 Ghz (Python)
Z. Shen, Y. Dai and Z. Rao: CFNet: Cascade and Fused Cost Volume for Robust Stereo Matching. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
Z. Shen, X. Song, Y. Dai, D. Zhou, Z. Rao and L. Zhang: Digging Into Uncertainty-Based Pseudo- Label for Robust Stereo Matching. IEEE Transactions on Pattern Analysis and Machine Intelligence 2023.
106 PFSMNet code 1.23 % 1.58 % 0.5 px 0.5 px 100.00 % 0.31 s 1 core @ 2.5 Ghz (C/C++)
K. Zeng, Y. Wang, Q. Zhu, J. Mao and H. Zhang: Deep Progressive Fusion Stereo Network. IEEE Transactions on Intelligent Transportation Systems 2021.
107 MGSR-Stereo 1.24 % 1.67 % 0.5 px 0.5 px 100.00 % 0.03 s 1 core @ 2.5 Ghz (Python)
108 GGDA 1.25 % 1.65 % 0.4 px 0.5 px 100.00 % 0.049 s 1 core @ 2.5 Ghz (Python)
109 NLCA-Net code 1.25 % 1.62 % 0.4 px 0.5 px 100.00 % 0.6 s GPU @ 2.5 Ghz (C/C++)
Z. Rao, M. He, Y. Dai, Z. Zhu, B. Li and R. He: NLCA-Net: a non-local context attention network for stereo matching. APSIPA Transactions on Signal and Information Processing 2020.
110 Context-Stereo-I 1.26 % 1.66 % 0.4 px 0.5 px 100.00 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
111 BIA+BI 1.26 % 1.68 % 0.4 px 0.5 px 100.00 % 35 s 1 core @ 2.5 Ghz (C/C++)
112 SCV-Stereo code 1.27 % 1.68 % 0.5 px 0.5 px 100.00 % 0.08 s GPU @ 2.5 Ghz (Python)
H. Wang, R. Fan and M. Liu: SCV-Stereo: Learning stereo matching from a sparse cost volume. 2021 IEEE International Conference on Image Processing (ICIP) 2021.
113 NLSDR-Net 1.28 % 1.62 % 0.5 px 0.5 px 100.00 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
114 RT-IGEV code 1.29 % 1.68 % 0.4 px 0.5 px 100.00 % 0.05 s 1 core @ 2.5 Ghz (Python)
G. Xu, X. Wang, Z. Zhang, J. Cheng, C. Liao and X. Yang: IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matching. IEEE TPAMI 2025.
115 CHRNet 1.29 % 1.70 % 0.4 px 0.5 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
116 DCVSMNet code 1.30 % 1.67 % 0.5 px 0.5 px 100.00 % 0.053 s RTX 4070S (PyTorch)
M. Tahmasebi, S. Huq, K. Meehan and M. McAfee: DCVSMNet: Double Cost Volume Stereo Matching Network. Neurocomputing 2025.
117 DPCTF-S 1.31 % 1.72 % 0.5 px 0.5 px 100.00 % 0.11 s GPU @ 2.5 Ghz (Python)
Y. Deng, J. Xiao, S. Zhou and J. Feng: Detail Preserving Coarse-to-Fine Matching for Stereo Matching and Optical Flow. IEEE Transactions on Image Processing 2021.
118 CCAStereo 1.31 % 1.64 % 0.5 px 0.5 px 100.00 % 0.05 s GPU @ 1.5 Ghz (Python)
H. Hashemi, Y. Baleghi and M. Hassanzadeh: Real-time stereo matching with enhanced geometric comprehension through cross-attention integration. Neurocomputing 2025.
119 AMNet 1.32 % 1.73 % 0.5 px 0.5 px 100.00 % 0.9 s GPU @ 2.5 Ghz (Python)
X. Du, M. El-Khamy and J. Lee: AMNet: Deep Atrous Multiscale Stereo Disparity Estimation Networks. 2019.
120 GwcNet-gc code 1.32 % 1.70 % 0.5 px 0.5 px 100.00 % 0.32 s GPU @ 2.0 Ghz (Java + C/C++)
X. Guo, K. Yang, W. Yang, X. Wang and H. Li: Group-wise correlation stereo network. CVPR 2019.
121 PGNet 1.32 % 1.79 % 0.5 px 0.5 px 100.00 % 0.7 s 1 core @ 2.5 Ghz (python)
S. Chen, Z. Xiang, C. Qiao, Y. Chen and T. Bai: PGNet: Panoptic parsing guided deep stereo matching. Neurocomputing 2021.
122 LightStereo-H code 1.34 % 1.62 % 0.5 px 0.5 px 100.00 % 0.05 s 1 core @ 2.5 Ghz (Python)
X. Guo, C. Zhang, Y. Zhang, W. Zheng, D. Nie, M. Poggi and L. Chen: Lightstereo: Channel boost is all you need for efficient 2d cost aggregation. ICRA 2025.
123 SG-MSNet3D 1.34 % 1.74 % 0.5 px 0.5 px 100.00 % 1 s 1 core @ 2.5 Ghz (C/C++)
B. Pan, j. jiao, B. Yao, J. Pang and J. Cheng: The Sampling-Gaussian for stereo matching. 2024.
124 SD-Stereo 1.35 % 1.71 % 0.5 px 0.5 px 100.00 % 0.02 s 1 core @ 2.5 Ghz (Python)
125 FLISNet+ 1.36 % 1.77 % 0.5 px 0.5 px 100.00 % 30 s 1 core @ 2.5 Ghz (C/C++)
126 GANet-15 code 1.36 % 1.80 % 0.5 px 0.5 px 100.00 % 0.36 s 1 core @ 2.5 Ghz (C/C++)
F. Zhang, V. Prisacariu, R. Yang and P. Torr: GA-Net: Guided Aggregation Net for End-to-end Stereo Matching. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
127 FIA-Net 1.37 % 1.83 % 0.5 px 0.5 px 100.00 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
128 CAR-Stereo 1.38 % 1.80 % 0.4 px 0.5 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
C. Park, J. Kim, M. Kweon and J. Park: CAR-Stereo: Confidence-Aware Adaptive Disparity Refinement for Real-Time Stereo Matching. IEEE Robotics and Automation Letters 2026.
129 [TIP25]ADStereo_fast code 1.38 % 1.72 % 0.5 px 0.5 px 100.00 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
Y. Wang, K. Li, L. Wang, J. Hu, D. Wu and Y. Guo: ADStereo: Efficient Stereo Matching with Adaptive Downsampling and Disparity Alignment. IEEE Transactions on Image Processing 2025.
130 SGNet 1.38 % 1.85 % 0.5 px 0.5 px 100.00 % 0.6 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Chen, Z. Xiang, C. Qiao, Y. Chen and T. Bai: SGNet: Semantics Guided Deep Stereo Matching. Proceedings of the Asian Conference on Computer Vision (ACCV) 2020.
131 SG-PSMnet 1.38 % 1.80 % 0.5 px 0.5 px 100.00 % 1 s 1 core @ 2.5 Ghz (C/C++)
B. Pan, j. jiao, B. Yao, J. Pang and J. Cheng: The Sampling-Gaussian for stereo matching. 2024.
132 DPDNet_3D 1.38 % 1.75 % 0.4 px 0.5 px 100.00 % 0.2 s GPU @ 2.5 Ghz (Python)
J. Liu and Y. Zhang: DPDNet: The lightweight stereo matching network based on disparity probability distribution consistency. Image and Vision Computing 2025.
133 SARNet 1.38 % 1.84 % 0.5 px 0.5 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
B. Liang, Y. Wang, Z. Hu, Z. Huang, H. Hu, J. Xu and D. Chen: High-Precision Stereo Matching Based on Selective Attention and Residual Cost Aggregation for Real-Time Autonomous Driving on Edge Devices. IEEE Transactions on Vehicular Technology 2026.
134 Context-Stereo code 1.39 % 1.75 % 0.5 px 0.5 px 100.00 % 0.03 s 1 core @ 2.5 Ghz (Python)
135 HD^3-Stereo code 1.40 % 1.80 % 0.5 px 0.5 px 100.00 % 0.14 s NVIDIA Pascal Titan XP
Z. Yin, T. Darrell and F. Yu: Hierarchical Discrete Distribution Decomposition for Match Density Estimation. CVPR 2019.
136 HITNet code 1.41 % 1.89 % 0.4 px 0.5 px 100.00 % 0.02 s GPU @ 2.5 Ghz (Python + C/C++)
V. Tankovich, C. Häne, Y. Zhang, A. Kowdle, S. Fanello and S. Bouaziz: HITNet: Hierarchical Iterative Tile Refinement Network for Real-time Stereo Matching. CVPR 2021.
137 CFP-Net code 1.41 % 1.83 % 0.5 px 0.5 px 100.00 % 0.95 s 8 cores @ 2.5 Ghz (Python)
Z. Zhu, M. He, Y. Dai, Z. Rao and B. Li: Multi-scale Cross-form Pyramid Network for Stereo Matching. arXiv preprint 2019.
138 LXF-Stereo 1.42 % 1.77 % 0.5 px 0.5 px 100.00 % 50 ms GPU @ 2.0 Ghz (Python)
139 WSMCnet code 1.42 % 1.90 % 0.6 px 0.6 px 100.00 % 0.39 s GPU @ Nvidia GTX 1070 (Pytorch)
Y. Wang, H. Wang, G. Yu, M. Yang, Y. Yuan and J. Quan: Stereo Matching Algorithm Based on Three-Dimensional Convolutional Neural Network. Acta Optica Sinica 2019.
140 Fast-ACVNet+ code 1.45 % 1.85 % 0.5 px 0.5 px 100.00 % 0.05 s NVIDIA RTX 3090 (PyTorch)
G. Xu, Y. Wang, J. Cheng, J. Tang and X. Yang: Accurate and efficient stereo matching via attention concatenation volume. IEEE Transactions on Pattern Analysis and Machine Intelligence 2023.
141 EdgeStereo-V2 1.46 % 1.83 % 0.4 px 0.5 px 100.00 % 0.32 s Nvidia GTX Titan Xp
X. Song, X. Zhao, L. Fang, H. Hu and Y. Yu: Edgestereo: An effective multi-task learning network for stereo matching and edge detection. International Journal of Computer Vision (IJCV) 2019.
142 MABNet_origin code 1.47 % 1.89 % 0.5 px 0.5 px 100.00 % 0.38 s Nvidia rtx2080ti (Python)
J. Xing, Z. Qi, J. Dong, J. Cai and H. Liu: MABNet: A Lightweight Stereo Network Based on Multibranch Adjustable Bottleneck Module. .
143 SSPCVNet 1.47 % 1.90 % 0.5 px 0.6 px 100.00 % 0.9 s 1 core @ 2.5 Ghz (Python)
Z. Wu, X. Wu, X. Zhang, S. Wang and L. Ju: Semantic Stereo Matching With Pyramid Cost Volumes. The IEEE International Conference on Computer Vision (ICCV) 2019.
144 NeXtStereo-M 1.49 % 1.84 % 0.5 px 0.5 px 100.00 % 0.03 s 1 core @ 2.5 Ghz (Python)
145 PSMNet code 1.49 % 1.89 % 0.5 px 0.6 px 100.00 % 0.41 s Nvidia Titan Xp
J. Chang and Y. Chen: Pyramid Stereo Matching Network. arXiv preprint arXiv:1803.08669 2018.
146 HSM code 1.53 % 1.99 % 0.5 px 0.6 px 100.00 % 0.15 s Titan X Pascal
G. Yang, J. Manela, M. Happold and D. Ramanan: Hierarchical Deep Stereo Matching on High- Resolution Images. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
147 GhostStereoNet 1.54 % 1.98 % 0.5 px 0.6 px 100.00 % 0.04 s GPU @ 3.0 Ghz (Python)
148 DAFSNet 1.54 % 1.92 % 0.5 px 0.5 px 100.00 % .005 s 1 core @ 2.5 Ghz (C/C++)
149 LightStereo-L code 1.55 % 1.87 % 0.5 px 0.5 px 100.00 % 0.03 s 1 core @ 2.5 Ghz (Python)
X. Guo, C. Zhang, Y. Zhang, W. Zheng, D. Nie, M. Poggi and L. Chen: Lightstereo: Channel boost is all you need for efficient 2d cost aggregation. ICRA 2025.
150 AANet+ code 1.55 % 2.04 % 0.4 px 0.5 px 100.00 % 0.06 s NVIDIA V100 GPU
H. Xu and J. Zhang: AANet: Adaptive Aggregation Network for Efficient Stereo Matching. CVPR 2020.
151 CoEx code 1.55 % 1.93 % 0.5 px 0.5 px 100.00 % 0.027 s RTX 2080Ti (Python)
A. Bangunharcana, J. Cho, S. Lee, I. Kweon, K. Kim and S. Kim: Correlate-and-Excite: Real-Time Stereo Matching via Guided Cost Volume Excitation. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021.
152 LightStereo-M code 1.56 % 1.91 % 0.5 px 0.5 px 100.00 % 0.02 s 1 core @ 2.5 Ghz (Python)
X. Guo, C. Zhang, Y. Zhang, W. Zheng, D. Nie, M. Poggi and L. Chen: Lightstereo: Channel boost is all you need for efficient 2d cost aggregation. ICRA 2025.
153 NeXtStereo-S 1.57 % 1.93 % 0.5 px 0.6 px 100.00 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
154 JBFNet2 1.60 % 2.02 % 0.5 px 0.6 px 100.00 % 0.29 s GPU @ 3.0 Ghz (Python)
155 BGNet+ 1.62 % 2.03 % 0.5 px 0.6 px 100.00 % 0.02 s GPU @ 2.5 Ghz (Python)
B. Xu, Y. Xu, X. Yang, W. Jia and Y. Guo: Bilateral Grid Learning for Stereo Matching Network. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
156 MSDC-Net 1.63 % 2.09 % 0.5 px 0.6 px 100.00 % 0.6 s 1 core @ 2.5 Ghz (C/C++)
Z. Rao, M. He, Y. Dai, Z. Zhu, B. Li and R. He: MSDC-Net: Multi-Scale Dense and Contextual Networks for Stereo Matching. 2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC) 2019.
157 SG-MSNet2D 1.63 % 2.09 % 0.5 px 0.6 px 100.00 % 1 s 1 core @ 2.5 Ghz (C/C++)
B. Pan, j. jiao, B. Yao, J. Pang and J. Cheng: The Sampling-Gaussian for stereo matching. 2024.
158 FLISNet 1.65 % 2.16 % 0.5 px 0.6 px 100.00 % 30 s 1 core @ 2.5 Ghz (C/C++)
159 WaveletStereo 1.66 % 2.18 % 0.5 px 0.6 px 100.00 % 0.27 s 1 core @ 2.5 Ghz (C/C++)
Anonymous: WaveletStereo: Learning wavelet coefficients for stereo matching. arXiv: Computer Vision and Pattern Recognition 2019.
160 SegStereo code 1.68 % 2.03 % 0.5 px 0.6 px 100.00 % 0.6 s Nvidia GTX Titan Xp
G. Yang, H. Zhao, J. Shi, Z. Deng and J. Jia: SegStereo: Exploiting Semantic Information for Disparity Estimation. ECCV 2018.
161 AutoDispNet-CSS code 1.70 % 2.05 % 0.5 px 0.5 px 100.00 % 0.9 s 1 core @ 2.5 Ghz (C/C++)
T. Saikia, Y. Marrakchi, A. Zela, F. Hutter and T. Brox: AutoDispNet: Improving Disparity Estimation with AutoML. The IEEE International Conference on Computer Vision (ICCV) 2019.
162 iResNet-i2 code 1.71 % 2.16 % 0.5 px 0.6 px 100.00 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
Z. Liang, Y. Feng, Y. Guo, H. Liu, W. Chen, L. Qiao, L. Zhou and J. Zhang: Learning for disparity estimation through feature constancy. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2018.
163 EFSNet 1.76 % 2.17 % 0.5 px 0.6 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
I. Ibadik and E. Hidayat: Efsnet: Lightweight Stereo Matching Through Hybrid Cost Volume Fusion and Multi-Scale Refinement. Available at SSRN 5388872 .
164 GC-NET 1.77 % 2.30 % 0.6 px 0.7 px 100.00 % 0.9 s Nvidia GTX Titan X
A. Kendall, H. Martirosyan, S. Dasgupta, P. Henry, R. Kennedy, A. Bachrach and A. Bry: End-to-End Learning of Geometry and Context for Deep Stereo Regression. Proceedings of the International Conference on Computer Vision (ICCV) 2017.
165 ERSCNet 1.80 % 2.30 % 0.5 px 0.6 px 100.00 % 0.28 s GPU @ 2.5 Ghz (Python)
Anonymous: ERSCNet. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
166 HAGVStereo 1.87 % 2.27 % 0.6 px 0.6 px 100.00 % 0.01 s GPU @ >3.5 Ghz (Python)
167 blur-stereo 1.87 % 2.27 % 0.6 px 0.6 px 100.00 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
168 LightStereo-S code 1.88 % 2.34 % 0.6 px 0.6 px 100.00 % 0.01 s 1 core @ 2.5 Ghz (Python)
X. Guo, C. Zhang, Y. Zhang, W. Zheng, D. Nie, M. Poggi and L. Chen: Lightstereo: Channel boost is all you need for efficient 2d cost aggregation. ICRA 2025.
169 DPDNet_2D 1.89 % 2.42 % 0.5 px 0.6 px 100.00 % 0.09 s GPU @ 2.5 Ghz (Python)
J. Liu and Y. Zhang: DPDNet: The lightweight stereo matching network based on disparity probability distribution consistency. Image and Vision Computing 2025.
170 AANet code 1.91 % 2.42 % 0.5 px 0.6 px 100.00 % 0.06 s GPU @ 2.5 Ghz (Python)
H. Xu and J. Zhang: AANet: Adaptive Aggregation Network for Efficient Stereo Matching. CVPR 2020.
171 Magic-UP (FT) 1.92 % 2.31 % 0.5 px 0.6 px 100.00 % 0.18 s 1 core @ 2.5 Ghz (Python)
172 PDSNet 1.92 % 2.53 % 0.9 px 1.0 px 100.00 % 0.5 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Tulyakov, A. Ivanov and F. Fleuret: Practical Deep Stereo (PDS): Toward applications-friendly deep stereo matching. Proceedings of the international conference on Neural Information Processing Systems (NIPS) 2018.
173 PVStereo 1.98 % 2.47 % 0.7 px 0.8 px 100.00 % 0.10 s 1 core @ 2.5 Ghz (Python)
H. Wang, R. Fan, P. Cai and M. Liu: PVStereo: Pyramid voting module for end-to-end self-supervised stereo matching. IEEE Robotics and Automation Letters 2021.
174 EFSNet-lite 2.01 % 2.56 % 0.6 px 0.7 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
I. Ibadik and E. Hidayat: Efsnet: Lightweight Stereo Matching Through Hybrid Cost Volume Fusion and Multi-Scale Refinement. Available at SSRN 5388872 .
175 Magic-UP (Bi) 2.02 % 2.36 % 0.6 px 0.6 px 100.00 % 0.18 s GPU @ 2.5 Ghz (Python)
176 EfficientStereo code 2.03 % 2.52 % 0.6 px 0.7 px 100.00 % 0.015 s NVIDIA RTX 3090 (PyTorch)
J. Tang, J. Liu, S. Ding and others: EfficientStereo: A Real-Time Stereo Matching Approach Using Lightweight Feature Extraction and Disparity-Dimensional Convolution. 2025.
177 FADNet code 2.04 % 2.46 % 0.5 px 0.6 px 100.00 % 0.05 s Tesla V100 (Python)
Q. Wang, S. Shi, S. Zheng, K. Zhao and X. Chu: FADNet: A Fast and Accurate Network for Disparity Estimation. arXiv preprint arXiv:2003.10758 2020.
178 MMStereo 2.04 % 2.52 % 0.6 px 0.7 px 100.00 % 0.04 s Nvidia Titan RTX (Python)
K. Shankar, M. Tjersland, J. Ma, K. Stone and M. Bajracharya: A Learned Stereo Depth System for Robotic Manipulation in Homes. .
179 Magic-UP (init.) 2.17 % 2.60 % 0.6 px 0.6 px 100.00 % 0.18 s 1 core @ 2.5 Ghz (Python)
180 RecResNet code 2.21 % 2.94 % 0.6 px 0.7 px 100.00 % 0.3 s GPU @ NVIDIA TITAN X (Tensorflow)
K. Batsos and P. Mordohai: RecResNet: A Recurrent Residual CNN Architecture for Disparity Map Enhancement. In International Conference on 3D Vision (3DV) 2018.
181 GMCR-Stereo 2.21 % 2.78 % 0.6 px 0.7 px 100.00 % 0.5 s GPU @ 2.5 Ghz (Python)
182 L-ResMatch code 2.27 % 3.40 % 0.7 px 1.0 px 100.00 % 48 s Titan X (Torch7, CUDA)
A. Shaked and L. Wolf: Improved Stereo Matching with Constant Highway Networks and Reflective Loss. arXiv preprint arxiv:1701.00165 2016.
183 CNNF+SGM 2.28 % 3.48 % 0.7 px 0.9 px 100.00 % 71 s TESLA K40C
F. Zhang and B. Wah: Fundamental Principles on Learning New Features for Effective Dense Matching. IEEE Transactions on Image Processing 2018.
184 real-time stereo 2.28 % 2.76 % 0.7 px 0.7 px 100.00 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
185 SGM-Net 2.29 % 3.50 % 0.7 px 0.9 px 100.00 % 67 s Titan X
A. Seki and M. Pollefeys: SGM-Nets: Semi-Global Matching With Neural Networks. CVPR 2017.
186 SsSMnet 2.30 % 3.00 % 0.7 px 0.8 px 100.00 % 0.8 s Titan Xp
Y. Zhong, Y. Dai and H. Li: Self-Supervised Learning for Stereo Matching with Self-Improving Ability. arXiv:1709.00930 2017.
187 PBCP 2.36 % 3.45 % 0.7 px 0.9 px 100.00 % 68 s Nvidia GTX Titan X
A. Seki and M. Pollefeys: Patch Based Confidence Prediction for Dense Disparity Map. British Machine Vision Conference (BMVC) 2016.
188 Displets v2 code 2.37 % 3.09 % 0.7 px 0.8 px 100.00 % 265 s >8 cores @ 3.0 Ghz (Matlab + C/C++)
F. Guney and A. Geiger: Displets: Resolving Stereo Ambiguities using Object Knowledge. Conference on Computer Vision and Pattern Recognition (CVPR) 2015.
189 Self-DispArbiter 2.39 % 2.94 % 0.6 px 0.7 px 100.00 % 0.22 s 1 core @ 2.5 Ghz (Python)
190 RTSnet code 2.43 % 2.90 % 0.7 px 0.7 px 100.00 % 0.02 s 1 core @ 2.5 Ghz (Python)
H. Lee and Y. Shin: Real-Time Stereo Matching Network with High Accuracy. 2019 IEEE International Conference on Image Processing (ICIP) 2019.
191 MC-CNN-acrt code 2.43 % 3.63 % 0.7 px 0.9 px 100.00 % 67 s Nvidia GTX Titan X (CUDA, Lua/Torch7)
J. Zbontar and Y. LeCun: Stereo Matching by Training a Convolutional Neural Network to Compare Image Patches. Submitted to JMLR .
192 cfusion
This method makes use of multiple (>2) views.
 code 2.46 % 2.69 % 0.8 px 0.8 px 99.93 % 70 s GPU (Matlab + CUDA)
V. Ntouskos and F. Pirri: Confidence driven TGV fusion. arXiv preprint arXiv:1603.09302 2016.
193 Displets code 2.47 % 3.27 % 0.7 px 0.9 px 100.00 % 265 s >8 cores @ 3.0 Ghz (Matlab + C/C++)
F. Guney and A. Geiger: Displets: Resolving Stereo Ambiguities using Object Knowledge. Conference on Computer Vision and Pattern Recognition (CVPR) 2015.
194 MC-CNN 2.61 % 3.84 % 0.8 px 1.0 px 100.00 % 100 s Nvidia GTX Titan (CUDA, Lua/Torch7)
J. Zbontar and Y. LeCun: Computing the Stereo Matching Cost with a Convolutional Neural Network. Conference on Computer Vision and Pattern Recognition (CVPR) 2015.
195 Fast DS-CS code 2.61 % 3.20 % 0.7 px 0.8 px 100.00 % 0.02 s GPU @ 2.0 Ghz (Python + C/C++)
K. Yee and A. Chakrabarti: Fast Deep Stereo with 2D Convolutional Processing of Cost Signatures. WACV 2020 (to appear).
196 MABNet_tiny code 2.71 % 3.31 % 0.7 px 0.8 px 100.00 % 0.11 s 1 core @ 2.5 Ghz (Python)
J. Xing, Z. Qi, J. Dong, J. Cai and H. Liu: MABNet: A Lightweight Stereo Network Based on Multibranch Adjustable Bottleneck Module. .
197 Magic-UP (zeroshot) 2.72 % 3.27 % 0.7 px 0.8 px 100.00 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
198 PRSM
This method uses optical flow information.
This method makes use of multiple (>2) views.
 code 2.78 % 3.00 % 0.7 px 0.7 px 100.00 % 300 s 1 core @ 2.5 Ghz (C/C++)
C. Vogel, K. Schindler and S. Roth: 3D Scene Flow Estimation with a Piecewise Rigid Scene Model. ijcv 2015.
199 DualNet (step 1) code 2.82 % 3.45 % 0.7 px 0.8 px 100.00 % 0.17 s 1 core @ 2.5 Ghz (C/C++)
Y. Wang, J. Zheng, C. Zhang, Z. Zhang, K. Li, Y. Zhang and J. Hu: DualNet: Robust Self-Supervised Stereo Matching with Pseudo-Label Supervision. Proceedings of the AAAI Conference on Artificial Intelligence 2025.
200 SPS-StFl
This method uses optical flow information.
This method makes use of the epipolar geometry.
 2.83 % 3.64 % 0.8 px 0.9 px 100.00 % 35 s 1 core @ 3.5 Ghz (C/C++)
K. Yamaguchi, D. McAllester and R. Urtasun: Efficient Joint Segmentation, Occlusion Labeling, Stereo and Flow Estimation. ECCV 2014.
201 MC-CNN-WS code 3.02 % 4.45 % 0.8 px 1.0 px 100.00 % 1.35 s 1 core 2.5 Ghz + K40 NVIDIA, Lua-Torch
S. Tulyakov, A. Ivanov and F. Fleuret: Weakly supervised learning of deep metrics for stereo reconstruction. ICCV 2017.
202 VC-SF
This method uses optical flow information.
This method makes use of multiple (>2) views.
 3.05 % 3.31 % 0.8 px 0.8 px 100.00 % 300 s 1 core @ 2.5 Ghz (C/C++)
C. Vogel, S. Roth and K. Schindler: View-Consistent 3D Scene Flow Estimation over Multiple Frames. Proceedings of European Conference on Computer Vision. Lecture Notes in, Computer Science 2014.
203 Content-CNN 3.07 % 4.29 % 0.8 px 1.0 px 100.00 % 0.7 s Nvidia GTX Titan X (Torch)
W. Luo, A. Schwing and R. Urtasun: Efficient Deep Learning for Stereo Matching. CVPR 2016.
204 Unister code 3.08 % 3.62 % 0.7 px 0.8 px 100.00 % 0.56 s 1 core @ 2.5 Ghz (C/C++)
205 Pseudo-Stereo 3.08 % 3.62 % 0.7 px 0.8 px 100.00 % 0.45 s 1 core @ 2.5 Ghz (Python)
206 Deep Embed 3.10 % 4.24 % 0.9 px 1.1 px 100.00 % 3 s 1 core @ 2.5 Ghz (C/C++)
Z. Chen, X. Sun, Y. Yu, L. Wang and C. Huang: A Deep Visual Correspondence Embedding Model for Stereo Matching Costs. ICCV 2015.
207 JSOSM 3.15 % 3.94 % 0.8 px 0.9 px 100.00 % 105 s 8 cores @ 2.5 Ghz (C/C++)
X. Li and J. Liu: EFFICIENT STEREO MATCHING USING SEGMENT OPTIMIZATION. ICIP 2016.
208 FD-Fusion code 3.16 % 3.85 % 0.7 px 0.8 px 100.00 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
M. Ferrera, A. Boulch and J. Moras: Fast Stereo Disparity Maps Refinement By Fusion of Data-Based And Model-Based Estimations. International Conference on 3D Vision (3DV) 2019.
209 OSF
This method uses optical flow information.
 code 3.28 % 4.07 % 0.8 px 0.9 px 99.98 % 50 min 1 core @ 3.0 Ghz (Matlab + C/C++)
M. Menze and A. Geiger: Object Scene Flow for Autonomous Vehicles. Conference on Computer Vision and Pattern Recognition (CVPR) 2015.
210 CoR code 3.30 % 4.10 % 0.8 px 0.9 px 100.00 % 6 s 6 cores @ 3.3 Ghz (Matlab + C/C++)
A. Chakrabarti, Y. Xiong, S. Gortler and T. Zickler: Low-level Vision by Consensus in a Spatial Hierarchy of Regions. CVPR 2015.
211 TCD-CRF 3.32 % 5.24 % 0.9 px 1.9 px 100.00 % 60 s 4 cores @ 3.5 Ghz (C/C++)
S. Arjomand Bigdeli, G. Budweiser and M. Zwicker: Temporally Coherent Disparity Maps Using CRFs with Fast 4D Filtering. Proc. ACPR 2015.
212 SPS-St code 3.39 % 4.41 % 0.9 px 1.0 px 100.00 % 2 s 1 core @ 3.5 Ghz (C/C++)
K. Yamaguchi, D. McAllester and R. Urtasun: Efficient Joint Segmentation, Occlusion Labeling, Stereo and Flow Estimation. ECCV 2014.
213 PCBP-SS 3.40 % 4.72 % 0.8 px 1.0 px 100.00 % 5 min 4 cores @ 2.5 Ghz (Matlab + C/C++)
K. Yamaguchi, D. McAllester and R. Urtasun: Robust Monocular Epipolar Flow Estimation. CVPR 2013.
214 P3SNet+ code 3.55 % 4.42 % 0.8 px 0.9 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
A. Emlek and M. Peker: P3SNet: Parallel Pyramid Pooling Stereo Network. IEEE Transactions on Intelligent Transportation Systems 2023.
215 CBMV code 3.56 % 4.73 % 0.9 px 1.1 px 100.00 % 250 s 6 cores@3.0Ghz(Python,C/C++,CUDA TitanX)
K. Batsos, C. Cai and P. Mordohai: CBMV: A Coalesced Bidirectional Matching Volume for Disparity Estimation. 2018.
216 P3SNet code 3.65 % 4.46 % 0.9 px 1.0 px 100.00 % 0.01 s GPU @ 2.5 Ghz (Python)
A. Emlek and M. Peker: P3SNet: Parallel Pyramid Pooling Stereo Network. IEEE Transactions on Intelligent Transportation Systems 2023.
217 DDS-SS 3.83 % 4.59 % 0.9 px 1.0 px 100.00 % 1 min 1 core @ 2.5 Ghz (Matlab + C/C++)
D. Wei, C. Liu and W. Freeman: A Data-driven Regularization Model for Stereo and Flow. 3DTV-Conference, 2014 International Conference on 2014.
218 Un-ViTAStereo code 3.84 % 4.55 % 0.8 px 0.9 px 100.00 % 0.22 s GPU @ 2.5 Ghz (Python)
C. Liu, M. Sun, C. Zhao, H. Wang, A. Dvorkovich and R. Fan: Integrating Disparity Confidence Estimation into Relative Depth Prior-Guided Unsupervised Stereo Matching. IEEE Transactions on Circuits and Systems for Video Technology 2025.
219 StereoSLIC 3.92 % 5.11 % 0.9 px 1.0 px 99.89 % 2.3 s 1 core @ 3.0 Ghz (C/C++)
K. Yamaguchi, D. McAllester and R. Urtasun: Robust Monocular Epipolar Flow Estimation. CVPR 2013.
220 SMCM 3.94 % 5.24 % 0.9 px 1.1 px 100.00 % 1800 s Nvidia GTX 1080 (Caffe)
M. Yang, Y. Liu, Y. Cai and Z. You: Stereo matching based on classification of materials. Neurocomputing 2016.
221 PR-Sf+E
This method uses optical flow information.
 4.02 % 4.87 % 0.9 px 1.0 px 100.00 % 200 s 4 cores @ 3.0 Ghz (Matlab + C/C++)
C. Vogel, K. Schindler and S. Roth: Piecewise Rigid Scene Flow. International Conference on Computer Vision (ICCV) 2013.
222 PCBP 4.04 % 5.37 % 0.9 px 1.1 px 100.00 % 5 min 4 cores @ 2.5 Ghz (Matlab + C/C++)
K. Yamaguchi, T. Hazan, D. McAllester and R. Urtasun: Continuous Markov Random Fields for Robust Stereo Estimation. ECCV 2012.
223 DispNetC code 4.11 % 4.65 % 0.9 px 1.0 px 100.00 % 0.06 s Nvidia GTX Titan X (Caffe)
N. Mayer, E. Ilg, P. Häusser, P. Fischer, D. Cremers, A. Dosovitskiy and T. Brox: A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation. CVPR 2016.
224 CSPMS 4.13 % 5.92 % 1.2 px 1.6 px 100.00 % 6 s 4 cores @ 2.5 Ghz (C/C++)
J. Cho and M. Humenberger: Fast PatchMatch Stereo Matching Using Multi-Scale Cost Fusion for Automotive Applications. IV 2015.
225 SGM-post 4.27 % 5.33 % 1.0 px 1.1 px 100.00 % 5 s 4 cores @ 2.5 Ghz (C/C++)
Z. Zhong: Efficient Learning based Semi-Global Stereo Matching. 2015 submitted.
226 MBM 4.35 % 5.43 % 1.0 px 1.1 px 100.00 % 0.2 s 1 core @ 3.0 Ghz (C/C++)
N. Einecke and J. Eggert: A Multi-Block-Matching Approach for Stereo. IV 2015.
227 PR-Sceneflow
This method uses optical flow information.
 4.36 % 5.22 % 0.9 px 1.1 px 100.00 % 150 sec 4 core @ 3.0 Ghz (Matlab - C/C++)
C. Vogel, K. Schindler and S. Roth: Piecewise Rigid Scene Flow. International Conference on Computer Vision (ICCV) 2013.
228 CRD-Fusion code 4.38 % 5.40 % 0.9 px 1.1 px 100.00 % 0.02 s GPU @ 2.5 Ghz (Python)
X. Fan, S. Jeon and B. Fidan: Occlusion-Aware Self-Supervised Stereo Matching with Confidence Guided Raw Disparity Fusion. Conference on Robots and Vision 2022.
229 CoR-Conf code 4.49 % 5.26 % 1.0 px 1.2 px 96.37 % 6 s 6 cores @ 3.3 Ghz (Matlab + C/C++)
A. Chakrabarti, Y. Xiong, S. Gortler and T. Zickler: Low-level Vision by Consensus in a Spatial Hierarchy of Regions. CVPR 2015.
230 Flow2Stereo 4.58 % 5.11 % 1.0 px 1.1 px 100.00 % 0.05 s GPU @ 2.5 Ghz (Python)
P. Liu, I. King, M. Lyu and J. Xu: Flow2Stereo: Effective Self-Supervised Learning of Optical Flow and Stereo Matching. CVPR 2020.
231 TARStereo 4.60 % 5.43 % 1.0 px 1.1 px 100.00 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
232 DispSegNet 4.68 % 5.66 % 0.9 px 1.0 px 100.00 % 0.9 s GPU @ 2.5 Ghz (Python)
J. Zhang, K. Skinner, R. Vasudevan and M. Johnson-Roberson: DispSegNet: Leveraging Semantics for End- to-End Learning of Disparity Estimation From Stereo Imagery. IEEE Robotics and Automation Letters 2019.
233 pSGM 4.68 % 6.13 % 1.0 px 1.4 px 100.00 % 7.92 s 4 cores @ 3.5 Ghz (C/C++)
Y. Lee, M. Park, Y. Hwang, Y. Shin and C. Kyung: Memory-Efficient Parametric Semiglobal Matching. IEEE Signal Processing Letters 2018.
234 AARBM 4.86 % 5.94 % 1.0 px 1.2 px 100.00 % 0.25 s 1 core @ 3.0 Ghz (C/C++)
N. Einecke and J. Eggert: Block-Matching Stereo with Relaxed Fronto-Parallel Assumption. IV 2014.
235 wSGM 4.97 % 6.18 % 1.3 px 1.6 px 97.03 % 6s 1 core @ 3.5 Ghz (C/C++)
R. Spangenberg, T. Langner and R. Rojas: Weighted Semi-Global Matching and Center-Symmetric Census Transform for Robust Driver Assistance. CAIP 2013.
236 AABM 4.97 % 6.04 % 1.0 px 1.2 px 100.00 % 0.12 s 1 core @ 3.1 Ghz (C/C++)
N. Einecke and J. Eggert: Stereo Image Warping for Improved Depth Estimation of Road Surfaces. IV 2013.
237 ATGV 5.02 % 6.88 % 1.0 px 1.6 px 100.00 % 6 min >8 cores @ 3.0 Ghz (Matlab + C/C++)
R. Ranftl, T. Pock and H. Bischof: Minimizing TGV-based Variational Models with Non-Convex Data terms. ICSSVM 2013.
238 rSGM code 5.03 % 6.60 % 1.1 px 1.5 px 97.22 % 0.2 s 4 cores @ 2.6 Ghz (C/C++)
R. Spangenberg, T. Langner, S. Adfeldt and R. Rojas: Large Scale Semi-Global Matching on the CPU. IV 2014.
239 iSGM 5.11 % 7.15 % 1.2 px 2.1 px 94.70 % 8 s 2 cores @ 2.5 Ghz (C/C++)
S. Hermann and R. Klette: Iterative Semi-Global Matching for Robust Driver Assistance Systems. ACCV 2012.
240 RBM 5.18 % 6.21 % 1.1 px 1.3 px 100.00 % 0.2 s 1 core @ 3.0 Ghz (C/C++)
N. Einecke and J. Eggert: Block-Matching Stereo with Relaxed Fronto-Parallel Assumption. IV 2014.
241 ARW code 5.20 % 6.87 % 1.2 px 1.5 px 99.33 % 4.6s 1 core @ 3.5 Ghz (MATLAB+C/C++)
S. Lee, J. Lee, J. Lim and I. Suh: Robust Stereo Matching using Adaptive Random Walk with Restart Algorithm. Image and vision computing (accepted) 2015.
242 DLP 5.28 % 7.21 % 1.2 px 2.0 px 100.00 % 60 s 8 cores @ >3.5 Ghz (C/C++)
V. Nguyen, H. Nguyen and J. Jeon: Robust Stereo Data Cost With a Learning Strategy. IEEE Transactions on Intelligent Transportation Systems 2017.
243 Ensemble 5.34 % 6.91 % 1.5 px 2.0 px 100.00 % 135 s 2 cores @ >3.5 Ghz (Matlab)
A. Spyropoulos and P. Mordohai: Ensemble Classifier for Combining Stereo Matching Algorithms. International Conference on 3D Vision (3DV) 2015.
244 ALTGV 5.36 % 6.49 % 1.1 px 1.2 px 100.00 % 20 s GPU @ 2.5 Ghz (C/C++)
G. Kuschk and D. Cremers: Fast and Accurate Large-scale Stereo Reconstruction using Variational Methods. ICCV Workshop on Big Data in 3D Computer Vision 2013.
245 SNCC 5.40 % 6.44 % 1.2 px 1.3 px 100.00 % 0.11 s 1 core @ 3.1 Ghz (C/C++)
N. Einecke and J. Eggert: A Two-Stage Correlation Method for Stereoscopic Depth Estimation. DICTA 2010.
246 CAT 5.45 % 6.54 % 1.1 px 1.2 px 100.00 % 10 s 1 core @ 3.5 Ghz (C/C++)
J. Ha, J. Jeon, G. Bae, S. Jo and H. Jeong: Cost Aggregation Table: Cost Aggregation Method Using Summed Area Table Scheme for Dense Stereo Correspondence. Advances in Visual Computing 2014.
247 SGM 5.76 % 7.00 % 1.2 px 1.3 px 85.80 % 3.7 s 1 core @ 3.0 Ghz (C/C++)
H. Hirschmueller: Stereo Processing by Semi-Global Matching and Mutual Information. PAMI 2008.
248 mSGM-LDE 6.01 % 8.22 % 1.4 px 2.4 px 100.00 % 55 s 2 cores @ 2.5 Ghz (C/C++)
V. Nguyen, D. Nguyen, S. Lee and J. Jeon: Local Density Encoding for Robust Stereo Matching. TCSVT 2014.
249 UHP 6.05 % 7.09 % 1.2 px 1.3 px 100.00 % 0.02 s GPU @ 2.5 Ghz (Python)
R. Yang, X. Li, R. Cong and J. Du: Unsupervised Hierarchical Iterative Tile Refinement Network with 3D Planar Segmentation Loss. IEEE Robotics and Automation Letters 2024.
250 AAFS 6.10 % 6.94 % 1.2 px 1.3 px 100.00 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
J. Chang, P. Chang and Y. Chen: Attention-Aware Feature Aggregation for Real-time Stereo Matching on Edge Devices. Proceedings of the Asian Conference on Computer Vision 2020.
251 Toast2
This method uses stereo information.
 6.16 % 7.42 % 1.2 px 1.4 px 95.39 % 0.03 s 4 cores @ 3.5 Ghz (C/C++)
B. Ranft and T. Strau\ss: Modeling Arbitrarily Oriented Slanted Planes for Efficient Stereo Vision based on Block Matching. Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference on 2014.
252 ITGV 6.20 % 7.30 % 1.3 px 1.5 px 100.00 % 7 s 1 core @ 3.0 Ghz (Matlab + C/C++)
R. Ranftl, S. Gehrig, T. Pock and H. Bischof: Pushing the Limits of Stereo Using Variational Stereo Estimation. IV 2012.
253 real-time stereo 6.34 % 7.13 % 1.2 px 1.3 px 100.00 % 0.050 s jeston orin nx
254 OASM-Net 6.39 % 8.60 % 1.3 px 2.0 px 100.00 % 0.73 s GPU @ 2.5 Ghz (Python)
A. Li and Z. Yuan: Occlusion Aware Stereo Matching via Cooperative Unsupervised Learning. Proceedings of the Asian Conference on Computer Vision, ACCV 2018.
255 Permutation Stereo 7.39 % 8.48 % 1.6 px 1.8 px 99.93 % 30 s GPU @ 2.5 Ghz (Matlab)
P. Brousseau and S. Roy: A Permutation Model for the Self- Supervised Stereo Matching Problem. 2022 19th Conference on Robots and Vision (CRV) 2022.
256 OCV-SGBM code 7.64 % 9.13 % 1.8 px 2.0 px 86.50 % 1.1 s 1 core @ 2.5 Ghz (C/C++)
H. Hirschmueller: Stereo processing by semiglobal matching and mutual information. PAMI 2008.
257 SSMW 7.83 % 8.95 % 1.6 px 1.8 px 99.99 % 2.5 min 8 cores @ 2.5 Ghz (C/C++)
X. Li, J. Liu, G. Chen and H. Fu: Efficient Methods Using Slanted Support Windows for Slanted Surfaces. IET Computer Vision, http://ietdl.org/t/5QsTxb 2016.
258 MSMW
This method uses stereo information.
 code 8.01 % 9.24 % 1.6 px 1.7 px 72.39 % 3 min 4 cores @ 2.5 Ghz (C/C++)
A. Buades and G. Facciolo: On the performance of local methods for stereovision. 2013 submitted.
259 HSMA 8.15 % 10.33 % 1.9 px 2.9 px 100.00 % 44s 1 core @ 3.0 Ghz (C/C++)
O. Zeglazi, M. Rziza, A. Amine and C. Demonceaux: A hierarchical stereo matching algorithm based on adaptive support region aggregation method. Pattern Recognition Letters 2018.
260 ELAS code 8.24 % 9.96 % 1.4 px 1.6 px 94.55 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
A. Geiger, M. Roser and R. Urtasun: Efficient Large-Scale Stereo Matching. ACCV 2010.
261 linBP 8.56 % 10.70 % 1.7 px 2.7 px 99.89 % 1.6 min 1 core @ 3.0 Ghz (C/C++)
W. Khan, V. Suaste, D. Caudillo and R. Klette: Belief Propagation Stereo Matching Compared to iSGM on Binocular or Trinocular Video Data. IV 2013.
262 ADSM 8.71 % 10.05 % 2.1 px 2.7 px 100.00 % 125 s 1 core @ 2.0 Ghz (C/C++)
O. Zeglazi, M. Rziza, A. Amine and C. Demonceaux: Accurate dense stereo matching for road scenes. 2017 IEEE International Conference on Image Processing, ICIP 2017, Beijing, China, September 17-20, 2017 .
263 Deep-Raw 8.93 % 11.07 % 3.9 px 4.9 px 100.00 % 1 s 1 core @ 2.5 Ghz (C/C++)
Z. Chen, X. Sun, Y. Yu, L. Wang and C. Huang: A Deep Visual Correspondence Embedding Model for Stereo Matching Costs. ICCV 2015.
264 S+GF (Cen) code 9.03 % 11.21 % 2.1 px 3.4 px 100.00 % 140 s 1 core @ 3.0 Ghz (C/C++)
K. Zhang, Y. Fang, D. Min, L. Sun, S. Yang, S. Yan and Q. Tian: Cross-Scale Cost Aggregation for Stereo Matching. CVPR 2014.
265 CrossCensus 9.46 % 10.86 % 2.3 px 2.7 px 100.00 % 30 s 1 core @ 2.5 Ghz (C/C++)
K. Zhang, J. Lu and G. Lafruit: Cross-Based Local Stereo Matching Using Orthogonal Integral Images. Circuits and Systems for Video Technology, IEEE Transactions on 2009.
266 SymST-GP 9.79 % 11.66 % 2.5 px 3.3 px 100.00 % 0.254 s Dual - Nvidia GTX Titan (CUDA)
R. Ralha, G. Falcao, J. Amaro, V. Mota, M. Antunes, J. Barreto and U. Nunes: Parallel refinement of slanted 3D reconstruction using dense stereo induced from symmetry. Journal of Real-Time Image Processing 2016.
267 SM_GPTM 9.79 % 11.38 % 2.1 px 2.6 px 100.00 % 6.5 s 2 cores @ 2.5 Ghz (C/C++)
C. Cigla and A. Alatan: An Improved Stereo Matching Algorithm with Ground Plane and Temporal Smoothness Constraints. ECCV Workshops 2012.
268 LAMC-DSΜ 9.82 % 11.49 % 2.1 px 2.7 px 99.96 % 10.8 min 2 cores @ 2.5 Ghz (Matlab)
C. Stentoumis, L. Grammatikopoulos, I. Kalisperakis, E. Petsa and G. Karras: A local adaptive approach for dense stereo matching in architectural scene reconstruction. ISPRS 2013.
269 IIW 10.78 % 12.62 % 3.3 px 4.3 px 70.85 % 5.5 s 1 core @ 2.5 Ghz (C/C++)
A. Murarka and N. Einecke: A meta-technique for increasing density of local stereo methods through iterative interpolation and warping. Canadian Conference on Computer and Robot Vision 2014.
270 SDM code 10.95 % 12.14 % 2.0 px 2.3 px 63.58 % 1 min 1 core @ 2.5 Ghz (C/C++)
J. Kostkova: Stratified dense matching for stereopsis in complex scenes. BMVC 2003.
271 HLSC_mesh 11.22 % 12.82 % 2.3 px 2.9 px 100.00 % 800 s 1 core @ 2.5 Ghz (Matlab + C/C++)
S. Hadfield, K. Lebeda and R. Bowden: Stereo reconstruction using top-down cues. Computer Vision and Image Understanding 2016.
272 GF (Census) code 11.65 % 13.76 % 4.5 px 5.6 px 100.00 % 120 s 1 core @ 3.0 Ghz (C/C++)
A. Hosni, C. Rhemann, M. Bleyer, C. Rother and M. Gelautz: Fast Cost-Volume Filtering for Visual Correspondence and Beyond. TPAMI 2013.
K. Zhang, Y. Fang, D. Min, L. Sun, S. Yang, S. Yan and Q. Tian: Cross-Scale Cost Aggregation for Stereo Matching. CVPR 2014.
273 BSM code 11.74 % 13.44 % 2.2 px 2.8 px 97.02 % 2.5 min 1 core @ 3.0 Ghz (C/C++)
K. Zhang, J. Li, Y. Li, W. Hu, L. Sun and S. Yang: Binary stereo matching. Pattern Recognition (ICPR), 2012 21st International Conference on 2012.
274 GCSF
This method uses optical flow information.
 code 12.05 % 13.24 % 1.9 px 2.1 px 60.77 % 2.4 s 1 core @ 2.5 Ghz (C/C++)
J. Cech, J. Sanchez-Riera and R. Horaud: Scene Flow Estimation by Growing Correspondence Seeds. CVPR 2011.
275 OCV-BM-post code 12.28 % 13.76 % 2.1 px 2.3 px 47.11 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
G. Bradski: The OpenCV Library. Dr. Dobb's Journal of Software Tools 2000.
276 GCS code 13.38 % 14.54 % 2.1 px 2.3 px 51.06 % 2.2 s 1 core @ 2.5 Ghz (C/C++)
J. Cech and R. Sara: Efficient Sampling of Disparity Space for Fast And Accurate Matching. BenCOS 2007.
277 GLDS code 17.22 % 18.63 % 2.8 px 3.2 px 100.00 % 26 s GPU @ 1.5 Ghz (C/C++)
K. Oguri and Y. Shibata: A new stereo formulation not using pixel and disparity models. 2018.
278 CostFilter code 19.99 % 21.08 % 5.0 px 5.4 px 100.00 % 4 min 1 core @ 2.5 Ghz (Matlab)
C. Rhemann, A. Hosni, M. Bleyer, C. Rother and M. Gelautz: Fast Cost-Volume Filtering for Visual Correspondence and Beyond. CVPR 2011.
279 GC+occ code 33.49 % 34.73 % 8.6 px 9.2 px 87.57 % 6 min 1 core @ 2.5 Ghz (C/C++)
V. Kolmogorov and R. Zabih: Computing Visual Correspondence with Occlusions using Graph Cuts. ICCV 2001.
280 VariableCros 34.84 % 36.11 % 12.4 px 12.9 px 95.66 % 30 s 1 core @ 2.5 Ghz (Matlab)
K. Zhang, J. Lu and G. Lafruit: Cross-Based Local Stereo Matching Using Orthogonal Integral Images. Circuits and Systems for Video Technology, IEEE Transactions on 2009.
281 ALE-Stereo code 50.48 % 51.19 % 13.0 px 13.5 px 100.00 % 50 min 1 core @ 3.0 Ghz (C/C++)
L. Ladicky, P. Sturgess, C. Russell, S. Sengupta, Y. Bastanlar, W. Clocksin and P. Torr: Joint Optimisation for Object Class Segmentation and Dense Stereo Reconstruction. BMVC 2010.
282 MEDIAN 52.61 % 53.67 % 7.7 px 8.2 px 99.95 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
283 AVERAGE 61.62 % 62.49 % 8.0 px 8.6 px 99.95 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
284 EN 97.97 % 97.94 % 35.6 px 35.7 px 99.99 % 1.71 s GPU @ 2.5 Ghz (Python)
This table as LaTeX


Related Datasets

  • HCI/Bosch Robust Vision Challenge: Optical flow and stereo vision challenge on high resolution imagery recorded at a high frame rate under diverse weather conditions (e.g., sunny, cloudy, rainy). The Robert Bosch AG provides a prize for the best performing method.
  • Image Sequence Analysis Test Site (EISATS): Synthetic image sequences with ground truth information provided by UoA and Daimler AG. Some of the images come with 3D range sensor information.
  • Middlebury Stereo Evaluation: The classic stereo evaluation benchmark, featuring four test images in version 2 of the benchmark, with very accurate ground truth from a structured light system. 38 image pairs are provided in total.
  • Daimler Stereo Dataset: Stereo bad weather highway scenes with partial ground truth for freespace
  • Make3D Range Image Data: Images with small-resolution ground truth used to learn and evaluate depth from single monocular images.
  • Lubor Ladicky's Stereo Dataset: Stereo Images with manually labeled ground truth based on polygonal areas.

Citation

When using this dataset in your research, we will be happy if you cite us:
@inproceedings{Geiger2012CVPR,
  author = {Andreas Geiger and Philip Lenz and Raquel Urtasun},
  title = {Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite},
  booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2012}
}



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