Method

Compact-Unified-Model [CU-Model]
[Anonymous Submission]

Submitted on 20 Sep. 2025 21:25 by
[Anonymous Submission]

Running time:0.99 s
Environment:GPU @ 1.5 Ghz (Python)

Method Description:
The proposed compact unified model for stereo matching and optical flow tasks begins with a backbone feature extractor that uses two residual layers followed by a traditional spatial pyramid pooling (SPP) module with four branches to capture hierarchical and global context information from image pairs, splitting the outputs into left (FL) and right (FR) features. Positional encoding, based on fixed sine and cosine functions, is added directly to FL and FR to incorporate spatial information and resolve pixel ambiguities. A Transformer architecture then processes these features through self-attention (for intra-image similarity) and cross-attention (for inter-image correspondence), followed by global correlation computation to derive dense matches, normalized for uncertainty handling and enhanced with softmax for sub-pixel accuracy, allowing seamless cross-task transfer without additional refinements.
Parameters:
\height=144
\width=256
\channel=128
\transformer_blocks=6
\attention_heads=1
\feature_dimension=128
\optimizer=AdamW
\weight_decay=1e-4
\iterations_optical_flow=120000, \iterations_stereo=50000
Latex Bibtex:

Detailed Results

This page provides detailed results for the method(s) selected. For the first 20 test images, the percentage of erroneous pixels is depicted in the table. We use the error metric described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), which considers a pixel to be correctly estimated if the disparity or flow end-point error is <3px or <5% (for scene flow this criterion needs to be fulfilled for both disparity maps and the flow map). Underneath, the left input image, the estimated results and the error maps are shown (for disp_0/disp_1/flow/scene_flow, respectively). The error map uses the log-color scale described in Object Scene Flow for Autonomous Vehicles (CVPR 2015), depicting correct estimates (<3px or <5% error) in blue and wrong estimates in red color tones. Dark regions in the error images denote the occluded pixels which fall outside the image boundaries. The false color maps of the results are scaled to the largest ground truth disparity values / flow magnitudes.

Test Set Average

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 75.89 49.98 71.58 60.68 61.81 60.86
All / Est 75.89 49.98 71.58 60.68 61.81 60.86
Noc / All 75.89 49.90 71.60 54.59 59.36 55.46
Noc / Est 75.89 49.90 71.60 54.59 59.36 55.46
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 95.19 97.93 95.57 64.30 84.58 67.09
All / Est 95.19 97.93 95.57 64.30 84.58 67.09
Noc / All 95.16 97.93 95.55 62.97 84.58 66.24
Noc / Est 95.16 97.93 95.55 62.97 84.58 66.24
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 1

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 83.25 94.79 84.54 37.44 67.68 40.82
All / Est 83.25 94.79 84.54 37.44 67.68 40.82
Noc / All 83.05 94.79 84.38 31.62 67.68 36.07
Noc / Est 83.05 94.79 84.38 31.62 67.68 36.07
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 2

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 81.26 91.22 81.74 46.68 66.60 47.65
All / Est 81.26 91.22 81.74 46.68 66.60 47.65
Noc / All 81.29 91.22 81.78 38.97 66.60 40.58
Noc / Est 81.29 91.22 81.78 38.97 66.60 40.58
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 3

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 83.17 99.55 84.68 62.67 89.69 65.17
All / Est 83.17 99.55 84.68 62.67 89.69 65.17
Noc / All 82.93 99.55 84.48 56.78 86.24 59.31
Noc / Est 82.93 99.55 84.48 56.78 86.24 59.31
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 4

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 68.55 67.67 68.40 73.07 81.51 74.47
All / Est 68.55 67.67 68.40 73.07 81.51 74.47
Noc / All 68.79 67.67 68.60 70.34 81.43 72.41
Noc / Est 68.79 67.67 68.60 70.34 81.43 72.41
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 5

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 68.10 49.34 66.41 40.84 0.60 37.22
All / Est 68.10 49.34 66.41 40.84 0.60 37.22
Noc / All 69.01 49.34 67.20 31.82 0.60 28.61
Noc / Est 69.01 49.34 67.20 31.82 0.60 28.61
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 6

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 79.16 99.26 81.28 64.32 30.20 60.72
All / Est 79.16 99.26 81.28 64.32 30.20 60.72
Noc / All 79.38 99.26 81.52 59.72 30.20 56.21
Noc / Est 79.38 99.26 81.52 59.72 30.20 56.21
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 7

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 89.61 100.00 91.65 16.17 89.48 30.52
All / Est 89.61 100.00 91.65 16.17 89.48 30.52
Noc / All 89.44 100.00 91.54 16.17 88.87 29.76
Noc / Est 89.44 100.00 91.54 16.17 88.87 29.76
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 8

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 88.61 99.43 90.61 22.37 69.70 31.11
All / Est 88.61 99.43 90.61 22.37 69.70 31.11
Noc / All 88.61 99.43 90.61 22.37 69.70 31.11
Noc / Est 88.61 99.43 90.61 22.37 69.70 31.11
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 9

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 91.91 99.87 93.94 24.01 68.58 35.40
All / Est 91.91 99.87 93.94 24.01 68.58 35.40
Noc / All 91.80 99.86 93.81 24.01 68.58 35.40
Noc / Est 91.80 99.86 93.81 24.01 68.58 35.40
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 10

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 92.35 90.48 91.92 67.52 47.32 62.90
All / Est 92.35 90.48 91.92 67.52 47.32 62.90
Noc / All 92.33 90.48 91.90 61.84 47.32 58.06
Noc / Est 92.33 90.48 91.90 61.84 47.32 58.06
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 11

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 81.11 68.78 78.89 63.90 40.91 59.77
All / Est 81.11 68.78 78.89 63.90 40.91 59.77
Noc / All 80.93 68.78 78.73 59.87 40.95 56.06
Noc / Est 80.93 68.78 78.73 59.87 40.95 56.06
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 12

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 78.42 64.82 77.50 58.88 18.99 56.19
All / Est 78.42 64.82 77.50 58.88 18.99 56.19
Noc / All 78.21 64.82 77.30 51.68 18.99 49.08
Noc / Est 78.21 64.82 77.30 51.68 18.99 49.08
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 13

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 80.83 65.43 78.94 75.72 84.49 76.79
All / Est 80.83 65.43 78.94 75.72 84.49 76.79
Noc / All 80.62 65.43 78.74 71.33 80.22 72.37
Noc / Est 80.62 65.43 78.74 71.33 80.22 72.37
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 14

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 73.88 100.00 74.34 57.46 44.01 57.22
All / Est 73.88 100.00 74.34 57.46 44.01 57.22
Noc / All 73.63 100.00 74.09 49.51 44.01 49.40
Noc / Est 73.63 100.00 74.09 49.51 44.01 49.40
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 15

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 65.71 37.95 63.19 70.50 70.65 70.51
All / Est 65.71 37.95 63.19 70.50 70.65 70.51
Noc / All 65.06 37.95 62.56 62.81 70.65 63.71
Noc / Est 65.06 37.95 62.56 62.81 70.65 63.71
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 16

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 45.27 19.50 41.48 87.55 69.19 84.85
All / Est 45.27 19.50 41.48 87.55 69.19 84.85
Noc / All 45.14 19.50 41.34 84.28 69.19 81.57
Noc / Est 45.14 19.50 41.34 84.28 69.19 81.57
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 17

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 75.32 33.82 71.00 67.93 76.33 68.81
All / Est 75.32 33.82 71.00 67.93 76.33 68.81
Noc / All 75.68 33.82 71.25 59.78 76.33 61.93
Noc / Est 75.68 33.82 71.25 59.78 76.33 61.93
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 18

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 77.72 56.43 67.60 65.02 98.59 80.97
All / Est 77.72 56.43 67.60 65.02 98.59 80.97
Noc / All 77.70 56.43 67.50 53.53 95.52 65.11
Noc / Est 77.70 56.43 67.50 53.53 95.52 65.11
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error


Test Image 19

Error D1-bg D1-fg D1-all Fl-bg Fl-fg Fl-all
All / All 78.40 67.00 77.11 69.84 68.21 69.65
All / Est 78.40 67.00 77.11 69.84 68.21 69.65
Noc / All 78.74 67.00 77.39 60.62 68.21 61.72
Noc / Est 78.74 67.00 77.39 60.62 68.21 61.72
This table as LaTeX

Input Image

D1 Result

D1 Error

Flow Result

Flow Error




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