Method

Uncertainty-Aware Integration of Semantic Priors for Efficient Stereo Matching [UAIStereo]


Submitted on 12 Jan. 2024 14:40 by
zhao hanpeng (Tsinghua University)

Running time:0.06 s
Environment:GPU @ 3.5 Ghz (Python)

Method Description:
In order to compensate for the loss of monocular semantic
information in the correlation cost volume, we present an improved
semantic-guided attention module. Innovatively, a dedicated
distribution optimization module along with a corresponding loss is
proposed to minimize errors arising from the candidate disparity
sampling process. Additionally, our work introduces a prior-integrated
disparity reassembling module and a novel uncertainty-aware
adaptive fusion strategy, aiming to fully har- ness the complementary
advantages of geometric priors and semantic priors.
Parameters:
3.5M
Latex Bibtex:

Detailed Results

This page provides detailed results for the method(s) selected. For each of the first 20 test images, the number of erroneous pixels at all thresholds is depicted in the table. Underneath, the left input image, the disparity / end-point error map and the estimated (and interpolated) disparity / optical flow map are shown. The error map scales linearly between 0 (black) and >=5 (white) pixels error. Red denotes all occluded pixels, falling outside the image boundaries. The false color map is scaled to the largest ground truth disparity / flow value.

Test Set Average

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.34 % 2.90 % 0.5 px 0.5 px
3 pixels 1.45 % 1.81 % 0.5 px 0.5 px
4 pixels 1.07 % 1.33 % 0.5 px 0.5 px
5 pixels 0.85 % 1.05 % 0.5 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.71 % 13.97 % 1.3 px 1.4 px
3 pixels 6.90 % 8.63 % 1.3 px 1.4 px
4 pixels 4.81 % 6.09 % 1.3 px 1.4 px
5 pixels 3.74 % 4.68 % 1.3 px 1.4 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.50 % 1.74 % 0.4 px 0.4 px
3 pixels 1.07 % 1.31 % 0.4 px 0.4 px
4 pixels 0.86 % 1.11 % 0.4 px 0.4 px
5 pixels 0.70 % 0.95 % 0.4 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.92 % 3.53 % 0.5 px 0.5 px
3 pixels 1.71 % 1.87 % 0.5 px 0.5 px
4 pixels 1.38 % 1.41 % 0.5 px 0.5 px
5 pixels 1.07 % 1.10 % 0.5 px 0.5 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.83 % 2.06 % 0.4 px 0.4 px
3 pixels 1.07 % 1.10 % 0.4 px 0.4 px
4 pixels 0.68 % 0.72 % 0.4 px 0.4 px
5 pixels 0.54 % 0.58 % 0.4 px 0.4 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.75 % 1.35 % 0.3 px 0.3 px
3 pixels 0.31 % 0.48 % 0.3 px 0.3 px
4 pixels 0.22 % 0.27 % 0.3 px 0.3 px
5 pixels 0.19 % 0.19 % 0.3 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.26 % 1.29 % 0.3 px 0.3 px
3 pixels 0.82 % 0.84 % 0.3 px 0.3 px
4 pixels 0.59 % 0.61 % 0.3 px 0.3 px
5 pixels 0.21 % 0.24 % 0.3 px 0.3 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.00 % 1.32 % 0.3 px 0.3 px
3 pixels 0.69 % 0.95 % 0.3 px 0.3 px
4 pixels 0.51 % 0.70 % 0.3 px 0.3 px
5 pixels 0.40 % 0.55 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.04 % 4.56 % 0.6 px 0.6 px
3 pixels 2.11 % 2.43 % 0.6 px 0.6 px
4 pixels 1.42 % 1.65 % 0.6 px 0.6 px
5 pixels 1.03 % 1.20 % 0.6 px 0.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.95 % 3.74 % 0.7 px 0.8 px
3 pixels 1.82 % 2.29 % 0.7 px 0.8 px
4 pixels 1.43 % 1.82 % 0.7 px 0.8 px
5 pixels 1.12 % 1.45 % 0.7 px 0.8 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.39 % 1.85 % 0.3 px 0.4 px
3 pixels 0.90 % 1.36 % 0.3 px 0.4 px
4 pixels 0.73 % 1.20 % 0.3 px 0.4 px
5 pixels 0.64 % 1.08 % 0.3 px 0.4 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.65 % 2.76 % 0.5 px 0.7 px
3 pixels 0.90 % 1.31 % 0.5 px 0.7 px
4 pixels 0.69 % 0.96 % 0.5 px 0.7 px
5 pixels 0.60 % 0.85 % 0.5 px 0.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.51 % 1.85 % 0.4 px 0.4 px
3 pixels 0.98 % 1.11 % 0.4 px 0.4 px
4 pixels 0.69 % 0.76 % 0.4 px 0.4 px
5 pixels 0.57 % 0.62 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.67 % 1.94 % 0.5 px 0.5 px
3 pixels 1.02 % 1.17 % 0.5 px 0.5 px
4 pixels 0.73 % 0.83 % 0.5 px 0.5 px
5 pixels 0.58 % 0.63 % 0.5 px 0.5 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.76 % 5.42 % 0.6 px 0.7 px
3 pixels 2.62 % 3.97 % 0.6 px 0.7 px
4 pixels 2.14 % 3.25 % 0.6 px 0.7 px
5 pixels 1.79 % 2.59 % 0.6 px 0.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.16 % 2.52 % 0.5 px 0.5 px
3 pixels 1.29 % 1.47 % 0.5 px 0.5 px
4 pixels 1.01 % 1.08 % 0.5 px 0.5 px
5 pixels 0.90 % 0.91 % 0.5 px 0.5 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.91 % 1.22 % 0.3 px 0.3 px
3 pixels 0.43 % 0.42 % 0.3 px 0.3 px
4 pixels 0.26 % 0.26 % 0.3 px 0.3 px
5 pixels 0.16 % 0.16 % 0.3 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.30 % 2.35 % 0.4 px 0.5 px
3 pixels 1.46 % 1.43 % 0.4 px 0.5 px
4 pixels 0.80 % 0.78 % 0.4 px 0.5 px
5 pixels 0.52 % 0.50 % 0.4 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.33 % 2.29 % 0.5 px 0.5 px
3 pixels 1.06 % 1.04 % 0.5 px 0.5 px
4 pixels 0.56 % 0.55 % 0.5 px 0.5 px
5 pixels 0.39 % 0.38 % 0.5 px 0.5 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.03 % 3.30 % 0.5 px 0.6 px
3 pixels 1.89 % 2.12 % 0.5 px 0.6 px
4 pixels 1.41 % 1.61 % 0.5 px 0.6 px
5 pixels 1.13 % 1.29 % 0.5 px 0.6 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.61 % 0.65 % 0.3 px 0.3 px
3 pixels 0.39 % 0.39 % 0.3 px 0.3 px
4 pixels 0.29 % 0.29 % 0.3 px 0.3 px
5 pixels 0.22 % 0.21 % 0.3 px 0.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.97 % 0.94 % 0.4 px 0.4 px
3 pixels 0.64 % 0.62 % 0.4 px 0.4 px
4 pixels 0.54 % 0.52 % 0.4 px 0.4 px
5 pixels 0.46 % 0.45 % 0.4 px 0.4 px
This table as LaTeX







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