Method

Semi-Global Matching [SGM]


Submitted on 5 Oct. 2012 09:25 by
Heiko Hirschmüller (DLR)

Running time:3.7 s
Environment:1 core @ 3.0 Ghz (C/C++)

Method Description:
Original SGM Algorithm using Census as matching cost, with a 9x7 window according to Hirschmüller and Scharstein ("Evaluation of Stereo Matching Costs on Images with Radiometric Differences", TPAMI 2009). 8 paths are integrated and disparity patches smaller than 100 pixels are invalidated. Interpolation has not been performed.
Parameters:
P1=28
P2_adaptive=29*{average intensity gradient}
Latex Bibtex:
@article{Hirschmueller2008,
journal={PAMI},
pages={328-341},
number={2},
author={Hirschmueller, Heiko},
volume={30},
month={February},
year={2008},
title={Stereo Processing by Semi-Global Matching and Mutual Information}
}

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 8.66 % 10.16 % 1.2 px 1.3 px
3 pixels 5.76 % 7.00 % 1.2 px 1.3 px
4 pixels 4.38 % 5.41 % 1.2 px 1.3 px
5 pixels 3.56 % 4.41 % 1.2 px 1.3 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 34.29 % 37.19 % 5.1 px 5.8 px
3 pixels 27.39 % 30.31 % 5.1 px 5.8 px
4 pixels 23.22 % 26.03 % 5.1 px 5.8 px
5 pixels 20.32 % 22.98 % 5.1 px 5.8 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.72 % 9.81 % 0.8 px 0.9 px
3 pixels 5.37 % 7.05 % 0.8 px 0.9 px
4 pixels 4.19 % 5.41 % 0.8 px 0.9 px
5 pixels 2.99 % 3.83 % 0.8 px 0.9 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.53 % 9.59 % 0.9 px 1.0 px
3 pixels 4.19 % 6.55 % 0.9 px 1.0 px
4 pixels 3.52 % 5.17 % 0.9 px 1.0 px
5 pixels 3.08 % 4.10 % 0.9 px 1.0 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.67 % 11.93 % 1.0 px 1.2 px
3 pixels 7.25 % 8.09 % 1.0 px 1.2 px
4 pixels 4.98 % 5.47 % 1.0 px 1.2 px
5 pixels 3.31 % 3.70 % 1.0 px 1.2 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.00 % 11.37 % 0.9 px 1.1 px
3 pixels 4.15 % 6.54 % 0.9 px 1.1 px
4 pixels 2.49 % 4.63 % 0.9 px 1.1 px
5 pixels 1.77 % 3.44 % 0.9 px 1.1 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.77 % 7.03 % 0.7 px 0.8 px
3 pixels 2.87 % 3.35 % 0.7 px 0.8 px
4 pixels 2.20 % 2.36 % 0.7 px 0.8 px
5 pixels 1.78 % 1.86 % 0.7 px 0.8 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.04 % 3.57 % 0.6 px 0.6 px
3 pixels 1.44 % 1.68 % 0.6 px 0.6 px
4 pixels 1.02 % 1.16 % 0.6 px 0.6 px
5 pixels 0.84 % 0.96 % 0.6 px 0.6 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.43 % 13.10 % 1.4 px 1.5 px
3 pixels 7.68 % 8.86 % 1.4 px 1.5 px
4 pixels 5.99 % 6.86 % 1.4 px 1.5 px
5 pixels 4.81 % 5.56 % 1.4 px 1.5 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 16.58 % 18.63 % 2.2 px 2.6 px
3 pixels 10.21 % 12.31 % 2.2 px 2.6 px
4 pixels 7.21 % 9.15 % 2.2 px 2.6 px
5 pixels 5.80 % 7.44 % 2.2 px 2.6 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.60 % 4.32 % 0.6 px 0.6 px
3 pixels 1.99 % 2.47 % 0.6 px 0.6 px
4 pixels 1.33 % 1.78 % 0.6 px 0.6 px
5 pixels 1.09 % 1.52 % 0.6 px 0.6 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.55 % 17.64 % 1.5 px 1.9 px
3 pixels 11.29 % 13.45 % 1.5 px 1.9 px
4 pixels 8.23 % 10.25 % 1.5 px 1.9 px
5 pixels 6.75 % 8.57 % 1.5 px 1.9 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.35 % 5.65 % 0.6 px 0.7 px
3 pixels 2.18 % 3.11 % 0.6 px 0.7 px
4 pixels 1.35 % 2.01 % 0.6 px 0.7 px
5 pixels 1.05 % 1.46 % 0.6 px 0.7 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.71 % 21.17 % 2.1 px 2.3 px
3 pixels 12.53 % 14.92 % 2.1 px 2.3 px
4 pixels 9.15 % 11.32 % 2.1 px 2.3 px
5 pixels 7.45 % 9.35 % 2.1 px 2.3 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.44 % 10.43 % 1.4 px 1.6 px
3 pixels 5.98 % 7.69 % 1.4 px 1.6 px
4 pixels 4.77 % 6.23 % 1.4 px 1.6 px
5 pixels 4.34 % 5.58 % 1.4 px 1.6 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.94 % 13.15 % 1.6 px 1.9 px
3 pixels 8.96 % 10.15 % 1.6 px 1.9 px
4 pixels 7.67 % 8.87 % 1.6 px 1.9 px
5 pixels 6.68 % 7.87 % 1.6 px 1.9 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.41 % 12.05 % 1.1 px 1.1 px
3 pixels 7.23 % 7.69 % 1.1 px 1.1 px
4 pixels 5.46 % 5.72 % 1.1 px 1.1 px
5 pixels 4.39 % 4.55 % 1.1 px 1.1 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.43 % 8.19 % 0.9 px 0.9 px
3 pixels 4.23 % 4.42 % 0.9 px 0.9 px
4 pixels 2.86 % 2.87 % 0.9 px 0.9 px
5 pixels 2.15 % 2.11 % 0.9 px 0.9 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.88 % 6.38 % 0.6 px 0.7 px
3 pixels 3.00 % 3.41 % 0.6 px 0.7 px
4 pixels 1.97 % 2.26 % 0.6 px 0.7 px
5 pixels 1.43 % 1.70 % 0.6 px 0.7 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.38 % 8.45 % 1.1 px 1.2 px
3 pixels 5.66 % 6.36 % 1.1 px 1.2 px
4 pixels 4.68 % 5.08 % 1.1 px 1.2 px
5 pixels 3.82 % 4.07 % 1.1 px 1.2 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.70 % 10.56 % 1.2 px 1.3 px
3 pixels 7.98 % 8.78 % 1.2 px 1.3 px
4 pixels 6.90 % 7.61 % 1.2 px 1.3 px
5 pixels 6.12 % 6.81 % 1.2 px 1.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.89 % 5.69 % 0.8 px 0.8 px
3 pixels 3.10 % 3.32 % 0.8 px 0.8 px
4 pixels 2.33 % 2.34 % 0.8 px 0.8 px
5 pixels 1.91 % 1.87 % 0.8 px 0.8 px
This table as LaTeX







eXTReMe Tracker