Method

Stereo Matching via Cost Aggregation and Iterative Optimization [4D-IteraStereo]
[Anonymous Submission]

Submitted on 8 Dec. 2023 03:54 by
[Anonymous Submission]

Running time:0.4 s
Environment:GPU @ 2.5 Ghz (Python)

Method Description:
We introduce the 4D-IteraStereo network to address
practical stereo matching challenges. Our approach
combines 4D cost filtering with iterative
optimization. We employ 4D cost aggregation as the
initial processing stage. It is used to obtain an
initial disparity map from imperfect rectification
and pre-distorted fine-scale disparity estimation.
We integrate ConvGRU iterative updates as a
refinement stage. It is utilized to compensate for
lost information in the coarse 4D cost volumes and
to further recover image details or thin
structures, resulting in a more refined disparity
map.
Parameters:
\alpha=14.0
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 1.84 % 2.35 % 0.4 px 0.5 px
3 pixels 1.17 % 1.55 % 0.4 px 0.5 px
4 pixels 0.89 % 1.20 % 0.4 px 0.5 px
5 pixels 0.73 % 0.99 % 0.4 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.18 % 8.34 % 0.9 px 1.0 px
3 pixels 4.01 % 4.61 % 0.9 px 1.0 px
4 pixels 2.82 % 3.27 % 0.9 px 1.0 px
5 pixels 2.25 % 2.65 % 0.9 px 1.0 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.22 % 1.45 % 0.4 px 0.4 px
3 pixels 0.99 % 1.23 % 0.4 px 0.4 px
4 pixels 0.82 % 1.06 % 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 2.82 % 3.89 % 0.5 px 0.6 px
3 pixels 1.75 % 2.81 % 0.5 px 0.6 px
4 pixels 1.42 % 2.48 % 0.5 px 0.6 px
5 pixels 1.13 % 2.19 % 0.5 px 0.6 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.69 % 0.73 % 0.3 px 0.3 px
3 pixels 0.51 % 0.56 % 0.3 px 0.3 px
4 pixels 0.44 % 0.49 % 0.3 px 0.3 px
5 pixels 0.39 % 0.43 % 0.3 px 0.3 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.89 % 1.13 % 0.3 px 0.3 px
3 pixels 0.29 % 0.31 % 0.3 px 0.3 px
4 pixels 0.13 % 0.15 % 0.3 px 0.3 px
5 pixels 0.12 % 0.14 % 0.3 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.61 % 0.85 % 0.3 px 0.3 px
3 pixels 0.35 % 0.48 % 0.3 px 0.3 px
4 pixels 0.28 % 0.40 % 0.3 px 0.3 px
5 pixels 0.16 % 0.27 % 0.3 px 0.3 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.88 % 0.97 % 0.3 px 0.3 px
3 pixels 0.55 % 0.60 % 0.3 px 0.3 px
4 pixels 0.38 % 0.41 % 0.3 px 0.3 px
5 pixels 0.33 % 0.35 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.59 % 4.20 % 0.5 px 0.6 px
3 pixels 1.64 % 1.93 % 0.5 px 0.6 px
4 pixels 1.12 % 1.29 % 0.5 px 0.6 px
5 pixels 0.93 % 1.04 % 0.5 px 0.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.72 % 2.49 % 0.5 px 0.6 px
3 pixels 1.20 % 1.56 % 0.5 px 0.6 px
4 pixels 0.99 % 1.20 % 0.5 px 0.6 px
5 pixels 0.88 % 1.06 % 0.5 px 0.6 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.22 % 1.40 % 0.3 px 0.3 px
3 pixels 0.82 % 0.87 % 0.3 px 0.3 px
4 pixels 0.64 % 0.67 % 0.3 px 0.3 px
5 pixels 0.54 % 0.57 % 0.3 px 0.3 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.35 % 2.46 % 0.4 px 0.6 px
3 pixels 0.80 % 1.21 % 0.4 px 0.6 px
4 pixels 0.59 % 0.94 % 0.4 px 0.6 px
5 pixels 0.53 % 0.84 % 0.4 px 0.6 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.47 % 1.62 % 0.4 px 0.4 px
3 pixels 0.93 % 1.09 % 0.4 px 0.4 px
4 pixels 0.69 % 0.85 % 0.4 px 0.4 px
5 pixels 0.62 % 0.77 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.20 % 1.16 % 0.4 px 0.4 px
3 pixels 0.62 % 0.60 % 0.4 px 0.4 px
4 pixels 0.44 % 0.42 % 0.4 px 0.4 px
5 pixels 0.38 % 0.36 % 0.4 px 0.4 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.52 % 3.40 % 0.5 px 0.6 px
3 pixels 1.61 % 2.28 % 0.5 px 0.6 px
4 pixels 1.32 % 1.87 % 0.5 px 0.6 px
5 pixels 1.21 % 1.66 % 0.5 px 0.6 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.29 % 1.67 % 0.4 px 0.4 px
3 pixels 0.95 % 1.02 % 0.4 px 0.4 px
4 pixels 0.77 % 0.78 % 0.4 px 0.4 px
5 pixels 0.70 % 0.70 % 0.4 px 0.4 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.23 % 1.15 % 0.2 px 0.3 px
3 pixels 0.16 % 1.06 % 0.2 px 0.3 px
4 pixels 0.13 % 1.03 % 0.2 px 0.3 px
5 pixels 0.11 % 1.00 % 0.2 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.41 % 2.43 % 0.4 px 0.4 px
3 pixels 1.43 % 1.40 % 0.4 px 0.4 px
4 pixels 0.73 % 0.71 % 0.4 px 0.4 px
5 pixels 0.44 % 0.43 % 0.4 px 0.4 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.02 % 1.99 % 0.4 px 0.4 px
3 pixels 0.92 % 0.90 % 0.4 px 0.4 px
4 pixels 0.53 % 0.52 % 0.4 px 0.4 px
5 pixels 0.37 % 0.37 % 0.4 px 0.4 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.11 % 3.29 % 0.5 px 0.5 px
3 pixels 2.23 % 2.31 % 0.5 px 0.5 px
4 pixels 1.73 % 1.82 % 0.5 px 0.5 px
5 pixels 1.51 % 1.60 % 0.5 px 0.5 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.38 % 0.38 % 0.2 px 0.2 px
3 pixels 0.27 % 0.27 % 0.2 px 0.2 px
4 pixels 0.22 % 0.22 % 0.2 px 0.2 px
5 pixels 0.13 % 0.13 % 0.2 px 0.2 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.81 % 0.79 % 0.3 px 0.3 px
3 pixels 0.54 % 0.52 % 0.3 px 0.3 px
4 pixels 0.42 % 0.40 % 0.3 px 0.3 px
5 pixels 0.35 % 0.34 % 0.3 px 0.3 px
This table as LaTeX







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