Method

Multi-dimensional attention for stereo matching [MDA]


Submitted on 21 Nov. 2023 07:52 by
Z jl (Tsinghua University)

Running time:0.32s
Environment:1 core @ 2.5 Ghz (Python)

Method Description:
Stereo matching is very important fundamental research in computer vision. Cost aggregation is crucial for the final output--disparity map. Whether the costs at different pixels can be fully aggregated directly determines the credibility and accuracy of matching. Previous networks rely on deep stacking of 2D or 3D convolutional layers to do the job. In this paper, we designed a new attention on the cost volume which can achieve global aggregation across and within disparity costs based on feature information. Moreover, to reduce the complexity of the attention mechanism, we adjusted the internal structure of attention, reducing it from the square complexity of the input image to linear. The designed cost aggregation method is named mult-dimensional attention (MDA), which can directly aggregate the global cost volume, enhance the effect of cost aggregation, and reduce the number of 3D convolutional layers. As FDA acts directly on the cost volume, and the output and input scales are the
Parameters:
alpha = 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 1.76 % 2.26 % 0.4 px 0.5 px
3 pixels 1.09 % 1.43 % 0.4 px 0.5 px
4 pixels 0.83 % 1.09 % 0.4 px 0.5 px
5 pixels 0.68 % 0.88 % 0.4 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.79 % 11.89 % 1.2 px 1.4 px
3 pixels 5.64 % 7.22 % 1.2 px 1.4 px
4 pixels 3.87 % 5.13 % 1.2 px 1.4 px
5 pixels 2.98 % 4.00 % 1.2 px 1.4 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.91 % 1.14 % 0.4 px 0.4 px
3 pixels 0.63 % 0.86 % 0.4 px 0.4 px
4 pixels 0.52 % 0.74 % 0.4 px 0.4 px
5 pixels 0.45 % 0.68 % 0.4 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.05 % 2.10 % 0.4 px 0.5 px
3 pixels 1.35 % 1.36 % 0.4 px 0.5 px
4 pixels 1.13 % 1.14 % 0.4 px 0.5 px
5 pixels 0.95 % 0.96 % 0.4 px 0.5 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.61 % 0.65 % 0.2 px 0.2 px
3 pixels 0.49 % 0.54 % 0.2 px 0.2 px
4 pixels 0.44 % 0.49 % 0.2 px 0.2 px
5 pixels 0.40 % 0.44 % 0.2 px 0.2 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.40 % 0.65 % 0.2 px 0.3 px
3 pixels 0.16 % 0.18 % 0.2 px 0.3 px
4 pixels 0.14 % 0.15 % 0.2 px 0.3 px
5 pixels 0.13 % 0.14 % 0.2 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.44 % 0.98 % 0.3 px 0.3 px
3 pixels 0.27 % 0.76 % 0.3 px 0.3 px
4 pixels 0.24 % 0.69 % 0.3 px 0.3 px
5 pixels 0.19 % 0.61 % 0.3 px 0.3 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.94 % 1.15 % 0.3 px 0.3 px
3 pixels 0.51 % 0.55 % 0.3 px 0.3 px
4 pixels 0.38 % 0.39 % 0.3 px 0.3 px
5 pixels 0.30 % 0.31 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.08 % 3.78 % 0.5 px 0.6 px
3 pixels 1.39 % 1.74 % 0.5 px 0.6 px
4 pixels 1.00 % 1.24 % 0.5 px 0.6 px
5 pixels 0.79 % 0.97 % 0.5 px 0.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.24 % 1.72 % 0.5 px 0.6 px
3 pixels 0.87 % 1.13 % 0.5 px 0.6 px
4 pixels 0.72 % 0.95 % 0.5 px 0.6 px
5 pixels 0.65 % 0.87 % 0.5 px 0.6 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.96 % 1.33 % 0.3 px 0.3 px
3 pixels 0.71 % 1.09 % 0.3 px 0.3 px
4 pixels 0.64 % 0.85 % 0.3 px 0.3 px
5 pixels 0.56 % 0.62 % 0.3 px 0.3 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.22 % 2.31 % 0.4 px 0.6 px
3 pixels 0.82 % 1.30 % 0.4 px 0.6 px
4 pixels 0.62 % 0.93 % 0.4 px 0.6 px
5 pixels 0.56 % 0.82 % 0.4 px 0.6 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.15 % 1.19 % 0.3 px 0.3 px
3 pixels 0.64 % 0.64 % 0.3 px 0.3 px
4 pixels 0.47 % 0.47 % 0.3 px 0.3 px
5 pixels 0.42 % 0.43 % 0.3 px 0.3 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.37 % 1.32 % 0.5 px 0.5 px
3 pixels 0.81 % 0.78 % 0.5 px 0.5 px
4 pixels 0.55 % 0.53 % 0.5 px 0.5 px
5 pixels 0.43 % 0.41 % 0.5 px 0.5 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.18 % 4.14 % 0.5 px 0.7 px
3 pixels 1.60 % 3.41 % 0.5 px 0.7 px
4 pixels 1.37 % 3.04 % 0.5 px 0.7 px
5 pixels 1.16 % 2.72 % 0.5 px 0.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.41 % 1.74 % 0.4 px 0.5 px
3 pixels 1.05 % 1.19 % 0.4 px 0.5 px
4 pixels 0.90 % 0.92 % 0.4 px 0.5 px
5 pixels 0.85 % 0.85 % 0.4 px 0.5 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.31 % 0.73 % 0.3 px 0.3 px
3 pixels 0.15 % 0.15 % 0.3 px 0.3 px
4 pixels 0.13 % 0.12 % 0.3 px 0.3 px
5 pixels 0.10 % 0.10 % 0.3 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.43 % 2.37 % 0.4 px 0.4 px
3 pixels 1.47 % 1.43 % 0.4 px 0.4 px
4 pixels 0.80 % 0.78 % 0.4 px 0.4 px
5 pixels 0.54 % 0.53 % 0.4 px 0.4 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.61 % 1.58 % 0.4 px 0.4 px
3 pixels 0.78 % 0.76 % 0.4 px 0.4 px
4 pixels 0.51 % 0.50 % 0.4 px 0.4 px
5 pixels 0.35 % 0.35 % 0.4 px 0.4 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.22 % 3.48 % 0.5 px 0.5 px
3 pixels 2.12 % 2.26 % 0.5 px 0.5 px
4 pixels 1.45 % 1.55 % 0.5 px 0.5 px
5 pixels 1.14 % 1.24 % 0.5 px 0.5 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.41 % 0.42 % 0.2 px 0.2 px
3 pixels 0.31 % 0.32 % 0.2 px 0.2 px
4 pixels 0.27 % 0.28 % 0.2 px 0.2 px
5 pixels 0.22 % 0.23 % 0.2 px 0.2 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.76 % 0.74 % 0.4 px 0.4 px
3 pixels 0.52 % 0.51 % 0.4 px 0.4 px
4 pixels 0.46 % 0.45 % 0.4 px 0.4 px
5 pixels 0.42 % 0.41 % 0.4 px 0.4 px
This table as LaTeX







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