Method

sqrtSGM : Memory-Efficient Parametric Semi-Global Matching [sqrtSGM]
[Anonymous Submission]

Submitted on 9 Aug. 2017 04:41 by
[Anonymous Submission]

Running time:7.92 s
Environment:4 cores @ 3.5 Ghz (C/C++)

Method Description:
Parametric aggregation based on GMM which is the
variant of original SGM algorithm. The contribution
of sqrtSGM is that the memory requirement is
extremely lower than that of original SGM without
the accuracy loss. Matching metric is AD-census 9x7
with simple 9x9 box aggregation. And sqrtSGM is
applied for 8 path semi-global aggregation. Finally,
post processing is 3x3 simple median filter.
Parameters:
Num Of GMMmodes : 3
Num Of Samples : 3
threshold Mahalanobis : 2
base learning rate : 0.05
slant surface param. : 0.35
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 7.44 % 9.08 % 1.0 px 1.4 px
3 pixels 4.68 % 6.13 % 1.0 px 1.4 px
4 pixels 3.55 % 4.81 % 1.0 px 1.4 px
5 pixels 2.90 % 4.02 % 1.0 px 1.4 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 26.56 % 30.36 % 3.3 px 5.7 px
3 pixels 18.87 % 22.87 % 3.3 px 5.7 px
4 pixels 14.96 % 18.98 % 3.3 px 5.7 px
5 pixels 12.48 % 16.45 % 3.3 px 5.7 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.62 % 8.66 % 0.9 px 1.1 px
3 pixels 4.24 % 6.04 % 0.9 px 1.1 px
4 pixels 3.00 % 4.46 % 0.9 px 1.1 px
5 pixels 2.31 % 3.42 % 0.9 px 1.1 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.73 % 9.45 % 1.0 px 1.1 px
3 pixels 4.46 % 6.51 % 1.0 px 1.1 px
4 pixels 3.78 % 5.23 % 1.0 px 1.1 px
5 pixels 3.32 % 4.37 % 1.0 px 1.1 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.68 % 10.03 % 0.9 px 1.1 px
3 pixels 5.00 % 6.08 % 0.9 px 1.1 px
4 pixels 3.13 % 3.87 % 0.9 px 1.1 px
5 pixels 2.34 % 2.88 % 0.9 px 1.1 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.67 % 8.27 % 0.7 px 1.3 px
3 pixels 2.68 % 5.37 % 0.7 px 1.3 px
4 pixels 1.57 % 4.23 % 0.7 px 1.3 px
5 pixels 1.04 % 3.49 % 0.7 px 1.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.18 % 12.48 % 1.0 px 1.3 px
3 pixels 8.77 % 9.67 % 1.0 px 1.3 px
4 pixels 7.53 % 8.18 % 1.0 px 1.3 px
5 pixels 4.22 % 4.94 % 1.0 px 1.3 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.38 % 2.91 % 0.5 px 0.6 px
3 pixels 1.05 % 1.46 % 0.5 px 0.6 px
4 pixels 0.78 % 1.12 % 0.5 px 0.6 px
5 pixels 0.69 % 1.01 % 0.5 px 0.6 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.57 % 10.59 % 1.1 px 1.4 px
3 pixels 4.79 % 6.35 % 1.1 px 1.4 px
4 pixels 3.43 % 4.71 % 1.1 px 1.4 px
5 pixels 2.78 % 3.77 % 1.1 px 1.4 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.02 % 11.28 % 1.3 px 2.2 px
3 pixels 4.89 % 7.25 % 1.3 px 2.2 px
4 pixels 3.39 % 5.75 % 1.3 px 2.2 px
5 pixels 2.73 % 4.88 % 1.3 px 2.2 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.85 % 4.25 % 0.6 px 0.9 px
3 pixels 1.61 % 2.85 % 0.6 px 0.9 px
4 pixels 1.34 % 2.52 % 0.6 px 0.9 px
5 pixels 1.19 % 2.34 % 0.6 px 0.9 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.45 % 12.66 % 1.2 px 1.9 px
3 pixels 6.21 % 8.49 % 1.2 px 1.9 px
4 pixels 4.29 % 6.47 % 1.2 px 1.9 px
5 pixels 3.16 % 4.98 % 1.2 px 1.9 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.68 % 6.15 % 0.7 px 0.9 px
3 pixels 2.85 % 4.20 % 0.7 px 0.9 px
4 pixels 2.21 % 3.48 % 0.7 px 0.9 px
5 pixels 1.91 % 3.09 % 0.7 px 0.9 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.54 % 13.71 % 1.6 px 1.9 px
3 pixels 5.31 % 8.27 % 1.6 px 1.9 px
4 pixels 3.81 % 6.36 % 1.6 px 1.9 px
5 pixels 2.97 % 5.10 % 1.6 px 1.9 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.82 % 9.19 % 1.4 px 2.2 px
3 pixels 4.95 % 7.27 % 1.4 px 2.2 px
4 pixels 4.31 % 6.45 % 1.4 px 2.2 px
5 pixels 3.84 % 5.78 % 1.4 px 2.2 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.05 % 10.37 % 1.6 px 2.0 px
3 pixels 6.50 % 7.81 % 1.6 px 2.0 px
4 pixels 5.75 % 7.05 % 1.6 px 2.0 px
5 pixels 5.27 % 6.54 % 1.6 px 2.0 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.85 % 4.93 % 0.6 px 0.6 px
3 pixels 2.08 % 2.99 % 0.6 px 0.6 px
4 pixels 1.25 % 1.63 % 0.6 px 0.6 px
5 pixels 0.81 % 0.95 % 0.6 px 0.6 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.73 % 7.29 % 0.8 px 0.9 px
3 pixels 3.65 % 3.89 % 0.8 px 0.9 px
4 pixels 2.30 % 2.37 % 0.8 px 0.9 px
5 pixels 1.60 % 1.67 % 0.8 px 0.9 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.61 % 4.80 % 0.7 px 0.7 px
3 pixels 1.83 % 1.88 % 0.7 px 0.7 px
4 pixels 1.00 % 1.03 % 0.7 px 0.7 px
5 pixels 0.71 % 0.75 % 0.7 px 0.7 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.11 % 9.08 % 1.0 px 1.1 px
3 pixels 5.66 % 6.46 % 1.0 px 1.1 px
4 pixels 4.23 % 4.75 % 1.0 px 1.1 px
5 pixels 3.11 % 3.44 % 1.0 px 1.1 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.93 % 11.82 % 1.0 px 1.1 px
3 pixels 9.01 % 9.82 % 1.0 px 1.1 px
4 pixels 7.23 % 7.97 % 1.0 px 1.1 px
5 pixels 5.55 % 6.29 % 1.0 px 1.1 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.55 % 3.84 % 0.6 px 0.7 px
3 pixels 1.43 % 1.78 % 0.6 px 0.7 px
4 pixels 1.06 % 1.10 % 0.6 px 0.7 px
5 pixels 0.94 % 0.95 % 0.6 px 0.7 px
This table as LaTeX







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