Method

L-ResMatch [L-ResMatch]
https://github.com/amitshaked/resmatch

Submitted on 15 Dec. 2016 13:24 by
Amit Shaked (TAU)

Running time:48 s
Environment:Titan X (Torch7, CUDA)

Method Description:
We train multi-level constant highway network to compute
the matching cost, and train a second CNN to compute the
disparity image from the matching cost map. The second
network is trained with "reflective loss" as a general way of
achieving the confidence score in the prediction, and the
confidence is integrated in the later outlier detection
process.
Parameters:
See paper.
Latex Bibtex:
@article{shaked2016stereo,
title={Improved Stereo Matching with Constant Highway
Networks and Reflective Loss},
author={Shaked, Amit and Wolf, Lior},
journal={arXiv preprint arxiv:1701.00165},
year={2016}
}

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 3.64 % 5.06 % 0.7 px 1.0 px
3 pixels 2.27 % 3.40 % 0.7 px 1.0 px
4 pixels 1.76 % 2.67 % 0.7 px 1.0 px
5 pixels 1.50 % 2.26 % 0.7 px 1.0 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 22.39 % 26.14 % 3.7 px 5.2 px
3 pixels 15.94 % 19.71 % 3.7 px 5.2 px
4 pixels 12.92 % 16.52 % 3.7 px 5.2 px
5 pixels 11.14 % 14.52 % 3.7 px 5.2 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.58 % 5.45 % 0.6 px 0.8 px
3 pixels 2.17 % 3.75 % 0.6 px 0.8 px
4 pixels 1.52 % 2.76 % 0.6 px 0.8 px
5 pixels 1.25 % 2.06 % 0.6 px 0.8 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.06 % 5.96 % 0.6 px 0.7 px
3 pixels 1.56 % 3.57 % 0.6 px 0.7 px
4 pixels 1.23 % 2.61 % 0.6 px 0.7 px
5 pixels 1.04 % 1.94 % 0.6 px 0.7 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.27 % 3.50 % 0.5 px 0.5 px
3 pixels 1.25 % 1.96 % 0.5 px 0.5 px
4 pixels 0.88 % 1.23 % 0.5 px 0.5 px
5 pixels 0.67 % 0.91 % 0.5 px 0.5 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.87 % 6.42 % 0.6 px 0.9 px
3 pixels 1.69 % 4.01 % 0.6 px 0.9 px
4 pixels 0.91 % 2.70 % 0.6 px 0.9 px
5 pixels 0.65 % 1.98 % 0.6 px 0.9 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.33 % 4.53 % 0.5 px 0.7 px
3 pixels 2.09 % 2.42 % 0.5 px 0.7 px
4 pixels 1.38 % 1.59 % 0.5 px 0.7 px
5 pixels 0.78 % 1.01 % 0.5 px 0.7 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.34 % 1.54 % 0.4 px 0.4 px
3 pixels 0.74 % 0.81 % 0.4 px 0.4 px
4 pixels 0.56 % 0.64 % 0.4 px 0.4 px
5 pixels 0.51 % 0.58 % 0.4 px 0.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.18 % 6.38 % 0.8 px 1.4 px
3 pixels 2.96 % 3.91 % 0.8 px 1.4 px
4 pixels 2.19 % 2.92 % 0.8 px 1.4 px
5 pixels 1.77 % 2.43 % 0.8 px 1.4 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.55 % 7.85 % 0.9 px 1.5 px
3 pixels 2.94 % 5.08 % 0.9 px 1.5 px
4 pixels 1.94 % 3.76 % 0.9 px 1.5 px
5 pixels 1.51 % 2.97 % 0.9 px 1.5 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.43 % 1.98 % 0.4 px 0.5 px
3 pixels 0.80 % 1.27 % 0.4 px 0.5 px
4 pixels 0.66 % 1.13 % 0.4 px 0.5 px
5 pixels 0.62 % 1.08 % 0.4 px 0.5 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.72 % 9.98 % 1.0 px 1.5 px
3 pixels 4.83 % 7.15 % 1.0 px 1.5 px
4 pixels 3.50 % 5.84 % 1.0 px 1.5 px
5 pixels 2.81 % 4.96 % 1.0 px 1.5 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.90 % 3.28 % 0.5 px 0.5 px
3 pixels 1.21 % 2.33 % 0.5 px 0.5 px
4 pixels 1.00 % 1.84 % 0.5 px 0.5 px
5 pixels 0.94 % 1.53 % 0.5 px 0.5 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.96 % 8.38 % 1.0 px 1.2 px
3 pixels 3.21 % 6.22 % 1.0 px 1.2 px
4 pixels 2.44 % 4.84 % 1.0 px 1.2 px
5 pixels 2.09 % 3.93 % 1.0 px 1.2 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.39 % 6.38 % 1.1 px 1.4 px
3 pixels 3.36 % 4.99 % 1.1 px 1.4 px
4 pixels 3.06 % 4.46 % 1.1 px 1.4 px
5 pixels 2.98 % 4.15 % 1.1 px 1.4 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.23 % 5.54 % 0.9 px 1.7 px
3 pixels 2.87 % 4.17 % 0.9 px 1.7 px
4 pixels 2.39 % 3.68 % 0.9 px 1.7 px
5 pixels 2.05 % 3.33 % 0.9 px 1.7 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.49 % 2.76 % 0.4 px 0.5 px
3 pixels 0.71 % 1.45 % 0.4 px 0.5 px
4 pixels 0.55 % 0.92 % 0.4 px 0.5 px
5 pixels 0.49 % 0.65 % 0.4 px 0.5 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.05 % 4.60 % 0.7 px 0.7 px
3 pixels 2.32 % 2.36 % 0.7 px 0.7 px
4 pixels 1.47 % 1.44 % 0.7 px 0.7 px
5 pixels 1.01 % 0.98 % 0.7 px 0.7 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.24 % 3.18 % 0.6 px 0.6 px
3 pixels 1.16 % 1.14 % 0.6 px 0.6 px
4 pixels 0.59 % 0.58 % 0.6 px 0.6 px
5 pixels 0.40 % 0.39 % 0.6 px 0.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.20 % 6.19 % 1.0 px 1.1 px
3 pixels 3.89 % 4.53 % 1.0 px 1.1 px
4 pixels 3.21 % 3.59 % 1.0 px 1.1 px
5 pixels 2.60 % 2.87 % 1.0 px 1.1 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.25 % 1.55 % 0.3 px 0.4 px
3 pixels 0.60 % 0.77 % 0.3 px 0.4 px
4 pixels 0.37 % 0.45 % 0.3 px 0.4 px
5 pixels 0.30 % 0.31 % 0.3 px 0.4 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.53 % 2.21 % 0.6 px 0.6 px
3 pixels 1.02 % 1.16 % 0.6 px 0.6 px
4 pixels 0.87 % 0.85 % 0.6 px 0.6 px
5 pixels 0.79 % 0.76 % 0.6 px 0.6 px
This table as LaTeX







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