Method

Efficient Large-Scale Stereo Matching [ELAS]
http://www.cvlibs.net/software/libelas

Submitted on 15 Mar. 2012 08:08 by
Andreas Geiger (MPI Tübingen)

Running time:0.3 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
Efficient local method, which reduces the search
space by forming a prior over disparities using a
triangulation of robustly matched support points.
Parameters:
default parameters, except:
param.add_corners = 1;
param.match_texture = 0;
Additional gaussian smoothing of input images with
sigma=0.7.
hello = KITTI;
Latex Bibtex:
@INPROCEEDINGS{Geiger10,
author = {Andreas Geiger and Martin Roser and
Raquel Urtasun},
title = {Efficient Large-Scale Stereo Matching},
booktitle = {ACCV},
year = {2010}
}

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 10.96 % 12.83 % 1.4 px 1.6 px
3 pixels 8.24 % 9.96 % 1.4 px 1.6 px
4 pixels 6.73 % 8.24 % 1.4 px 1.6 px
5 pixels 5.67 % 6.97 % 1.4 px 1.6 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 34.03 % 37.52 % 5.4 px 6.3 px
3 pixels 26.75 % 30.41 % 5.4 px 6.3 px
4 pixels 22.49 % 26.13 % 5.4 px 6.3 px
5 pixels 19.45 % 22.97 % 5.4 px 6.3 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.09 % 11.64 % 1.0 px 1.1 px
3 pixels 6.71 % 8.95 % 1.0 px 1.1 px
4 pixels 5.39 % 7.09 % 1.0 px 1.1 px
5 pixels 4.09 % 5.36 % 1.0 px 1.1 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.99 % 15.55 % 1.5 px 1.9 px
3 pixels 9.24 % 12.77 % 1.5 px 1.9 px
4 pixels 8.09 % 11.35 % 1.5 px 1.9 px
5 pixels 7.48 % 10.30 % 1.5 px 1.9 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.32 % 13.90 % 1.2 px 1.3 px
3 pixels 9.55 % 11.04 % 1.2 px 1.3 px
4 pixels 7.89 % 9.23 % 1.2 px 1.3 px
5 pixels 6.80 % 7.91 % 1.2 px 1.3 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.05 % 11.55 % 0.9 px 1.2 px
3 pixels 5.80 % 8.39 % 0.9 px 1.2 px
4 pixels 4.19 % 6.63 % 0.9 px 1.2 px
5 pixels 2.91 % 4.97 % 0.9 px 1.2 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.30 % 15.28 % 1.2 px 1.4 px
3 pixels 9.23 % 10.75 % 1.2 px 1.4 px
4 pixels 6.49 % 7.55 % 1.2 px 1.4 px
5 pixels 4.31 % 5.17 % 1.2 px 1.4 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.93 % 5.48 % 0.7 px 0.8 px
3 pixels 2.73 % 3.58 % 0.7 px 0.8 px
4 pixels 2.21 % 2.75 % 0.7 px 0.8 px
5 pixels 1.83 % 2.26 % 0.7 px 0.8 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.33 % 13.47 % 1.4 px 1.6 px
3 pixels 8.36 % 10.06 % 1.4 px 1.6 px
4 pixels 6.70 % 7.84 % 1.4 px 1.6 px
5 pixels 5.84 % 6.86 % 1.4 px 1.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 20.11 % 22.04 % 2.4 px 2.6 px
3 pixels 15.11 % 17.06 % 2.4 px 2.6 px
4 pixels 12.07 % 13.90 % 2.4 px 2.6 px
5 pixels 9.27 % 10.86 % 2.4 px 2.6 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.33 % 6.04 % 0.6 px 0.7 px
3 pixels 2.63 % 4.03 % 0.6 px 0.7 px
4 pixels 1.92 % 2.85 % 0.6 px 0.7 px
5 pixels 1.57 % 2.42 % 0.6 px 0.7 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.70 % 19.73 % 2.1 px 2.5 px
3 pixels 13.84 % 15.98 % 2.1 px 2.5 px
4 pixels 11.62 % 13.76 % 2.1 px 2.5 px
5 pixels 10.01 % 12.00 % 2.1 px 2.5 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.14 % 9.61 % 0.9 px 1.1 px
3 pixels 5.70 % 7.14 % 0.9 px 1.1 px
4 pixels 4.16 % 5.61 % 0.9 px 1.1 px
5 pixels 3.38 % 4.80 % 0.9 px 1.1 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 19.10 % 22.08 % 2.0 px 2.3 px
3 pixels 13.48 % 16.63 % 2.0 px 2.3 px
4 pixels 9.76 % 12.90 % 2.0 px 2.3 px
5 pixels 7.80 % 10.77 % 2.0 px 2.3 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.95 % 14.22 % 1.8 px 2.3 px
3 pixels 10.17 % 12.49 % 1.8 px 2.3 px
4 pixels 9.19 % 11.53 % 1.8 px 2.3 px
5 pixels 8.38 % 10.75 % 1.8 px 2.3 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.36 % 10.72 % 1.7 px 1.8 px
3 pixels 7.37 % 8.58 % 1.7 px 1.8 px
4 pixels 6.52 % 7.64 % 1.7 px 1.8 px
5 pixels 5.92 % 7.01 % 1.7 px 1.8 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.19 % 15.15 % 1.3 px 1.6 px
3 pixels 10.22 % 12.25 % 1.3 px 1.6 px
4 pixels 8.36 % 10.26 % 1.3 px 1.6 px
5 pixels 7.07 % 8.23 % 1.3 px 1.6 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.90 % 10.46 % 1.1 px 1.2 px
3 pixels 6.24 % 7.36 % 1.1 px 1.2 px
4 pixels 4.45 % 5.27 % 1.1 px 1.2 px
5 pixels 3.54 % 4.23 % 1.1 px 1.2 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.21 % 13.69 % 1.7 px 2.0 px
3 pixels 10.06 % 11.48 % 1.7 px 2.0 px
4 pixels 8.96 % 10.25 % 1.7 px 2.0 px
5 pixels 8.22 % 9.47 % 1.7 px 2.0 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.00 % 12.89 % 1.3 px 1.4 px
3 pixels 9.87 % 10.46 % 1.3 px 1.4 px
4 pixels 8.16 % 8.74 % 1.3 px 1.4 px
5 pixels 6.96 % 7.51 % 1.3 px 1.4 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.45 % 12.50 % 1.1 px 1.2 px
3 pixels 9.16 % 10.13 % 1.1 px 1.2 px
4 pixels 7.66 % 8.63 % 1.1 px 1.2 px
5 pixels 6.28 % 7.19 % 1.1 px 1.2 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.54 % 6.88 % 0.7 px 0.9 px
3 pixels 3.02 % 4.92 % 0.7 px 0.9 px
4 pixels 2.24 % 3.87 % 0.7 px 0.9 px
5 pixels 1.75 % 3.33 % 0.7 px 0.9 px
This table as LaTeX







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