Method

Geometry and Context Network [GC-NET]


Submitted on 27 Jan. 2017 17:04 by
Alex Kendall (University of Cambridge)

Running time:0.9 s
Environment:Nvidia GTX Titan X

Method Description:
We propose a novel deep learning architecture for
regressing disparity from a rectified pair of
stereo images. We leverage knowledge of the
problem's geometry to form a cost volume using
deep feature representations. We learn to
incorporate contextual information using 3-D
convolutions over this volume. Disparity values
are regressed from the cost volume using a
proposed differentiable soft argmin operation,
which allows us to train our method end-to-end to
sub-pixel accuracy without any additional post-
processing or regularization. We evaluate our
method on the Scene Flow and KITTI datasets and
on KITTI we set a new state-of-the-art benchmark,
while being significantly faster than competing
approaches.
Parameters:
See paper.
Latex Bibtex:
@article{kendall2017stereo,
title={End-to-End Learning of Geometry and Context
for Deep Stereo Regression},
author={Kendall, Alex and Martirosyan, Hayk and
Dasgupta, Saumitro and Henry, Peter and Kennedy,
Ryan and Bachrach, Abraham and Bry, Adam},
journal={arXiv preprint arxiv:1703.04309},
year={2017}
}

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 2.71 % 3.46 % 0.6 px 0.7 px
3 pixels 1.77 % 2.30 % 0.6 px 0.7 px
4 pixels 1.36 % 1.77 % 0.6 px 0.7 px
5 pixels 1.12 % 1.46 % 0.6 px 0.7 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 16.58 % 19.07 % 1.8 px 2.0 px
3 pixels 10.80 % 12.80 % 1.8 px 2.0 px
4 pixels 8.13 % 9.77 % 1.8 px 2.0 px
5 pixels 6.59 % 7.99 % 1.8 px 2.0 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.33 % 2.80 % 0.5 px 0.5 px
3 pixels 1.21 % 1.45 % 0.5 px 0.5 px
4 pixels 0.85 % 1.00 % 0.5 px 0.5 px
5 pixels 0.67 % 0.76 % 0.5 px 0.5 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.00 % 3.34 % 0.6 px 0.6 px
3 pixels 1.89 % 2.05 % 0.6 px 0.6 px
4 pixels 1.39 % 1.56 % 0.6 px 0.6 px
5 pixels 1.19 % 1.33 % 0.6 px 0.6 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.37 % 1.74 % 0.4 px 0.4 px
3 pixels 0.91 % 0.95 % 0.4 px 0.4 px
4 pixels 0.64 % 0.69 % 0.4 px 0.4 px
5 pixels 0.45 % 0.50 % 0.4 px 0.4 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.87 % 2.19 % 0.4 px 0.4 px
3 pixels 0.30 % 0.67 % 0.4 px 0.4 px
4 pixels 0.18 % 0.20 % 0.4 px 0.4 px
5 pixels 0.15 % 0.17 % 0.4 px 0.4 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.14 % 2.37 % 0.5 px 0.5 px
3 pixels 1.46 % 1.67 % 0.5 px 0.5 px
4 pixels 0.99 % 1.20 % 0.5 px 0.5 px
5 pixels 0.56 % 0.77 % 0.5 px 0.5 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.34 % 1.50 % 0.4 px 0.4 px
3 pixels 0.92 % 1.05 % 0.4 px 0.4 px
4 pixels 0.70 % 0.79 % 0.4 px 0.4 px
5 pixels 0.58 % 0.63 % 0.4 px 0.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.52 % 5.08 % 0.7 px 0.7 px
3 pixels 2.16 % 2.51 % 0.7 px 0.7 px
4 pixels 1.44 % 1.69 % 0.7 px 0.7 px
5 pixels 1.11 % 1.31 % 0.7 px 0.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.45 % 4.58 % 0.7 px 0.8 px
3 pixels 2.06 % 2.81 % 0.7 px 0.8 px
4 pixels 1.55 % 2.17 % 0.7 px 0.8 px
5 pixels 1.29 % 1.74 % 0.7 px 0.8 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.23 % 1.67 % 0.4 px 0.5 px
3 pixels 0.82 % 1.27 % 0.4 px 0.5 px
4 pixels 0.68 % 1.13 % 0.4 px 0.5 px
5 pixels 0.57 % 1.03 % 0.4 px 0.5 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.95 % 4.67 % 0.7 px 0.9 px
3 pixels 1.43 % 2.49 % 0.7 px 0.9 px
4 pixels 0.96 % 1.61 % 0.7 px 0.9 px
5 pixels 0.80 % 1.32 % 0.7 px 0.9 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.04 % 2.58 % 0.5 px 0.5 px
3 pixels 1.28 % 1.61 % 0.5 px 0.5 px
4 pixels 0.87 % 1.07 % 0.5 px 0.5 px
5 pixels 0.67 % 0.78 % 0.5 px 0.5 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.98 % 5.03 % 0.6 px 0.7 px
3 pixels 1.67 % 3.06 % 0.6 px 0.7 px
4 pixels 1.25 % 2.35 % 0.6 px 0.7 px
5 pixels 1.07 % 1.93 % 0.6 px 0.7 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.10 % 5.59 % 0.8 px 0.8 px
3 pixels 3.17 % 4.35 % 0.8 px 0.8 px
4 pixels 2.53 % 3.31 % 0.8 px 0.8 px
5 pixels 2.15 % 2.55 % 0.8 px 0.8 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.58 % 2.87 % 0.6 px 0.6 px
3 pixels 1.71 % 1.87 % 0.6 px 0.6 px
4 pixels 1.37 % 1.49 % 0.6 px 0.6 px
5 pixels 1.16 % 1.25 % 0.6 px 0.6 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.74 % 0.74 % 0.4 px 0.4 px
3 pixels 0.27 % 0.26 % 0.4 px 0.4 px
4 pixels 0.19 % 0.18 % 0.4 px 0.4 px
5 pixels 0.14 % 0.14 % 0.4 px 0.4 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.23 % 3.57 % 0.6 px 0.6 px
3 pixels 1.83 % 1.88 % 0.6 px 0.6 px
4 pixels 1.02 % 1.00 % 0.6 px 0.6 px
5 pixels 0.67 % 0.65 % 0.6 px 0.6 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.50 % 2.46 % 0.5 px 0.5 px
3 pixels 1.29 % 1.27 % 0.5 px 0.5 px
4 pixels 0.77 % 0.76 % 0.5 px 0.5 px
5 pixels 0.53 % 0.52 % 0.5 px 0.5 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.82 % 5.87 % 0.7 px 0.8 px
3 pixels 3.40 % 4.05 % 0.7 px 0.8 px
4 pixels 2.55 % 2.89 % 0.7 px 0.8 px
5 pixels 1.81 % 1.94 % 0.7 px 0.8 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.73 % 0.93 % 0.3 px 0.4 px
3 pixels 0.52 % 0.62 % 0.3 px 0.4 px
4 pixels 0.40 % 0.43 % 0.3 px 0.4 px
5 pixels 0.32 % 0.33 % 0.3 px 0.4 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.35 % 1.31 % 0.4 px 0.4 px
3 pixels 0.76 % 0.74 % 0.4 px 0.4 px
4 pixels 0.60 % 0.59 % 0.4 px 0.4 px
5 pixels 0.51 % 0.49 % 0.4 px 0.4 px
This table as LaTeX







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