Method

Increasing density of local stereo methods through iterative interpolation and warping [IIW]


Submitted on 7 Mar. 2014 02:23 by
Aniket Murarka (Honda Research Institute USA)

Running time:5.5 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
The paper presents a fast meta-technique for increasing the density of disparity maps produced by local stereo methods while keeping outlier percentage low. In this technique the original disparity map computed by a local stereo method is iteratively improved through a process of depth interpolation and image warping based on the interpolated depth. Image warping gives a mechanism for testing the validity of the interpolated depths allowing for incorrect depths to be discarded.
Parameters:
number of iterations = 2
dissimilarity type = CENSUS
census half window size = 7
max iterated interpolated disp diff = 0.5
min warped disparity = -16
max warped disparity = 16
Latex Bibtex:
@InProceedings{iiw14,
author = {A. Murarka and N. Einecke},
title = {A meta-technique for increasing density of local stereo methods through iterative interpolation and warping},
booktitle = {Canadian Conference on Computer and Robot Vision},
year = 2014
}

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 14.31 % 16.15 % 3.3 px 4.3 px
3 pixels 10.78 % 12.62 % 3.3 px 4.3 px
4 pixels 9.10 % 10.90 % 3.3 px 4.3 px
5 pixels 8.06 % 9.83 % 3.3 px 4.3 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 40.73 % 43.77 % 8.5 px 11.7 px
3 pixels 33.04 % 36.39 % 8.5 px 11.7 px
4 pixels 28.34 % 31.82 % 8.5 px 11.7 px
5 pixels 25.12 % 28.68 % 8.5 px 11.7 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.34 % 14.47 % 4.4 px 5.3 px
3 pixels 9.77 % 11.66 % 4.4 px 5.3 px
4 pixels 8.41 % 10.11 % 4.4 px 5.3 px
5 pixels 7.35 % 8.90 % 4.4 px 5.3 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.31 % 14.51 % 2.6 px 4.1 px
3 pixels 7.91 % 11.05 % 2.6 px 4.1 px
4 pixels 6.62 % 9.68 % 2.6 px 4.1 px
5 pixels 6.01 % 9.02 % 2.6 px 4.1 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 21.55 % 22.92 % 5.4 px 6.2 px
3 pixels 18.48 % 19.89 % 5.4 px 6.2 px
4 pixels 16.34 % 17.77 % 5.4 px 6.2 px
5 pixels 14.72 % 16.18 % 5.4 px 6.2 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.42 % 14.80 % 2.2 px 3.6 px
3 pixels 8.23 % 10.71 % 2.2 px 3.6 px
4 pixels 6.07 % 8.49 % 2.2 px 3.6 px
5 pixels 4.96 % 7.30 % 2.2 px 3.6 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.42 % 14.17 % 3.0 px 3.6 px
3 pixels 9.64 % 11.33 % 3.0 px 3.6 px
4 pixels 8.74 % 10.38 % 3.0 px 3.6 px
5 pixels 8.17 % 9.78 % 3.0 px 3.6 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.60 % 10.29 % 2.3 px 2.9 px
3 pixels 6.69 % 8.41 % 2.3 px 2.9 px
4 pixels 5.84 % 7.58 % 2.3 px 2.9 px
5 pixels 5.38 % 7.12 % 2.3 px 2.9 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.26 % 19.13 % 3.0 px 3.7 px
3 pixels 13.82 % 15.44 % 3.0 px 3.7 px
4 pixels 11.93 % 13.43 % 3.0 px 3.7 px
5 pixels 10.69 % 12.21 % 3.0 px 3.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 22.24 % 24.17 % 4.3 px 5.7 px
3 pixels 17.04 % 19.09 % 4.3 px 5.7 px
4 pixels 14.09 % 16.19 % 4.3 px 5.7 px
5 pixels 12.23 % 14.32 % 4.3 px 5.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.65 % 7.32 % 1.0 px 1.7 px
3 pixels 3.46 % 5.13 % 1.0 px 1.7 px
4 pixels 2.68 % 4.35 % 1.0 px 1.7 px
5 pixels 2.18 % 3.86 % 1.0 px 1.7 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 23.35 % 25.25 % 9.0 px 9.7 px
3 pixels 18.89 % 20.79 % 9.0 px 9.7 px
4 pixels 16.39 % 18.03 % 9.0 px 9.7 px
5 pixels 14.61 % 16.13 % 9.0 px 9.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.99 % 11.59 % 3.2 px 4.1 px
3 pixels 7.86 % 9.49 % 3.2 px 4.1 px
4 pixels 6.95 % 8.59 % 3.2 px 4.1 px
5 pixels 6.61 % 8.24 % 3.2 px 4.1 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 30.80 % 33.35 % 6.3 px 8.3 px
3 pixels 23.27 % 26.10 % 6.3 px 8.3 px
4 pixels 18.90 % 21.88 % 6.3 px 8.3 px
5 pixels 16.43 % 19.48 % 6.3 px 8.3 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.32 % 16.53 % 6.3 px 9.1 px
3 pixels 12.20 % 14.46 % 6.3 px 9.1 px
4 pixels 11.04 % 13.34 % 6.3 px 9.1 px
5 pixels 10.27 % 12.58 % 6.3 px 9.1 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.70 % 13.91 % 3.7 px 4.1 px
3 pixels 9.39 % 10.40 % 3.7 px 4.1 px
4 pixels 8.17 % 9.10 % 3.7 px 4.1 px
5 pixels 7.53 % 8.44 % 3.7 px 4.1 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 20.78 % 22.38 % 6.5 px 7.1 px
3 pixels 17.32 % 18.96 % 6.5 px 7.1 px
4 pixels 15.27 % 16.92 % 6.5 px 7.1 px
5 pixels 13.85 % 15.48 % 6.5 px 7.1 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.37 % 14.21 % 1.7 px 2.6 px
3 pixels 7.44 % 9.33 % 1.7 px 2.6 px
4 pixels 5.14 % 7.05 % 1.7 px 2.6 px
5 pixels 4.24 % 6.15 % 1.7 px 2.6 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.85 % 16.24 % 4.6 px 5.1 px
3 pixels 12.49 % 13.91 % 4.6 px 5.1 px
4 pixels 11.23 % 12.65 % 4.6 px 5.1 px
5 pixels 10.60 % 12.01 % 4.6 px 5.1 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.35 % 13.69 % 2.3 px 2.7 px
3 pixels 9.79 % 10.93 % 2.3 px 2.7 px
4 pixels 8.50 % 9.39 % 2.3 px 2.7 px
5 pixels 7.52 % 8.24 % 2.3 px 2.7 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.13 % 16.27 % 2.4 px 2.7 px
3 pixels 12.19 % 13.35 % 2.4 px 2.7 px
4 pixels 10.62 % 11.78 % 2.4 px 2.7 px
5 pixels 9.61 % 10.77 % 2.4 px 2.7 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.95 % 11.37 % 2.2 px 3.1 px
3 pixels 6.49 % 8.85 % 2.2 px 3.1 px
4 pixels 5.33 % 7.57 % 2.2 px 3.1 px
5 pixels 4.76 % 6.89 % 2.2 px 3.1 px
This table as LaTeX







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