Method

OpenCV Semi-Global Block Matching [OCV-SGBM]
http://opencv.willowgarage.com/wiki/

Submitted on 16 Feb. 2012 18:06 by
Andreas Geiger (MPI Tübingen)

Running time:1.1 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
Modified SGM algorithm of H. Hirschmueller. The
main differences between the implemented
algorithm
and the original one are: By default the
algorithm
is single-pass, i.e. instead of 8 directions we
only consider 5. The algorithm matches blocks,
not
individual pixels. Birchfield-Tomasi sub-pixel
metric is implemented as well as some pre- and
post- processing steps from K. Konolige's OpenCV
block matchihng algorithm, such as pre-filtering
(
CV_STEREO_BM_XSOBEL type) and post-filtering
(uniqueness check, quadratic interpolation and
speckle filtering).
Parameters:
pre_filter_cap = 63;
sad_window_size = 3;
p1 = sad_window_size*sad_window_size*4;
p2 = sad_window_size*sad_window_size*32;
min_disparity = 0;
num_disparities = 128;
uniqueness_ratio = 10;
speckle_window_size = 100;
speckle_range = 32;
disp_max_diff = 1;
full_dp = 1;
Latex Bibtex:
@article{Hirschmueller08,
title={Stereo processing by semiglobal matching
and mutual information},
volume={30},
journal={PAMI},
author={Hirschmueller, Heiko},
year={2008},
pages={328-41}
}

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 10.60 % 12.22 % 1.8 px 2.0 px
3 pixels 7.64 % 9.13 % 1.8 px 2.0 px
4 pixels 6.03 % 7.40 % 1.8 px 2.0 px
5 pixels 5.03 % 6.24 % 1.8 px 2.0 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 43.30 % 45.97 % 13.1 px 14.0 px
3 pixels 37.45 % 40.21 % 13.1 px 14.0 px
4 pixels 34.00 % 36.78 % 13.1 px 14.0 px
5 pixels 31.58 % 34.32 % 13.1 px 14.0 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.94 % 10.95 % 0.9 px 1.0 px
3 pixels 6.39 % 8.34 % 0.9 px 1.0 px
4 pixels 4.80 % 6.73 % 0.9 px 1.0 px
5 pixels 3.54 % 5.35 % 0.9 px 1.0 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.41 % 12.58 % 1.1 px 1.3 px
3 pixels 6.55 % 9.44 % 1.1 px 1.3 px
4 pixels 5.09 % 7.71 % 1.1 px 1.3 px
5 pixels 4.03 % 6.40 % 1.1 px 1.3 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.91 % 12.52 % 1.5 px 1.5 px
3 pixels 7.43 % 9.06 % 1.5 px 1.5 px
4 pixels 5.53 % 6.94 % 1.5 px 1.5 px
5 pixels 4.54 % 5.41 % 1.5 px 1.5 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.64 % 12.06 % 0.8 px 1.1 px
3 pixels 5.16 % 7.67 % 0.8 px 1.1 px
4 pixels 2.89 % 5.43 % 0.8 px 1.1 px
5 pixels 1.75 % 4.29 % 0.8 px 1.1 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.44 % 10.76 % 1.0 px 1.2 px
3 pixels 5.99 % 7.28 % 1.0 px 1.2 px
4 pixels 3.98 % 5.19 % 1.0 px 1.2 px
5 pixels 2.66 % 3.79 % 1.0 px 1.2 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.08 % 4.72 % 0.7 px 0.7 px
3 pixels 2.36 % 2.79 % 0.7 px 0.7 px
4 pixels 1.79 % 2.19 % 0.7 px 0.7 px
5 pixels 1.42 % 1.81 % 0.7 px 0.7 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.97 % 16.29 % 2.5 px 2.9 px
3 pixels 10.85 % 12.64 % 2.5 px 2.9 px
4 pixels 9.19 % 10.55 % 2.5 px 2.9 px
5 pixels 8.21 % 9.48 % 2.5 px 2.9 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 19.09 % 21.10 % 2.2 px 2.6 px
3 pixels 13.73 % 15.84 % 2.2 px 2.6 px
4 pixels 10.76 % 12.93 % 2.2 px 2.6 px
5 pixels 8.76 % 10.92 % 2.2 px 2.6 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.68 % 5.48 % 0.7 px 0.7 px
3 pixels 3.19 % 3.87 % 0.7 px 0.7 px
4 pixels 2.32 % 2.74 % 0.7 px 0.7 px
5 pixels 1.79 % 1.94 % 0.7 px 0.7 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.66 % 19.69 % 4.0 px 4.4 px
3 pixels 14.42 % 16.54 % 4.0 px 4.4 px
4 pixels 12.13 % 14.31 % 4.0 px 4.4 px
5 pixels 10.48 % 12.68 % 4.0 px 4.4 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.56 % 12.90 % 2.4 px 2.5 px
3 pixels 9.38 % 10.67 % 2.4 px 2.5 px
4 pixels 7.95 % 9.22 % 2.4 px 2.5 px
5 pixels 6.84 % 7.99 % 2.4 px 2.5 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.52 % 21.42 % 2.6 px 2.8 px
3 pixels 12.24 % 15.31 % 2.6 px 2.8 px
4 pixels 9.21 % 12.32 % 2.6 px 2.8 px
5 pixels 7.61 % 10.57 % 2.6 px 2.8 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.34 % 14.60 % 2.2 px 3.0 px
3 pixels 10.58 % 12.88 % 2.2 px 3.0 px
4 pixels 9.77 % 12.10 % 2.2 px 3.0 px
5 pixels 8.85 % 11.20 % 2.2 px 3.0 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.22 % 15.08 % 1.7 px 1.8 px
3 pixels 10.26 % 11.12 % 1.7 px 1.8 px
4 pixels 7.82 % 8.67 % 1.7 px 1.8 px
5 pixels 6.03 % 6.90 % 1.7 px 1.8 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.66 % 14.04 % 1.1 px 1.2 px
3 pixels 8.75 % 10.03 % 1.1 px 1.2 px
4 pixels 6.51 % 7.67 % 1.1 px 1.2 px
5 pixels 4.97 % 5.90 % 1.1 px 1.2 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.56 % 11.51 % 1.2 px 1.2 px
3 pixels 6.86 % 7.65 % 1.2 px 1.2 px
4 pixels 4.56 % 5.21 % 1.2 px 1.2 px
5 pixels 3.26 % 3.68 % 1.2 px 1.2 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.45 % 7.89 % 0.7 px 0.7 px
3 pixels 3.02 % 3.34 % 0.7 px 0.7 px
4 pixels 1.66 % 1.81 % 0.7 px 0.7 px
5 pixels 1.09 % 1.13 % 0.7 px 0.7 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.52 % 10.73 % 1.4 px 1.5 px
3 pixels 7.30 % 8.05 % 1.4 px 1.5 px
4 pixels 6.04 % 6.52 % 1.4 px 1.5 px
5 pixels 5.07 % 5.45 % 1.4 px 1.5 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.14 % 6.87 % 0.7 px 0.7 px
3 pixels 4.70 % 5.24 % 0.7 px 0.7 px
4 pixels 3.61 % 4.09 % 0.7 px 0.7 px
5 pixels 2.87 % 3.28 % 0.7 px 0.7 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.97 % 9.05 % 1.5 px 1.5 px
3 pixels 4.95 % 6.30 % 1.5 px 1.5 px
4 pixels 3.89 % 4.83 % 1.5 px 1.5 px
5 pixels 3.39 % 3.88 % 1.5 px 1.5 px
This table as LaTeX







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