Method

HIERARCHICAL FEATURE FUSION AND MULTI-SCALE COST AGGREGATION FOR STEREO MATCHING [HFMANet]
[Anonymous Submission]

Submitted on 13 Dec. 2021 04:19 by
[Anonymous Submission]

Running time:0.56 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
A stereo matching method based on hierarchical
feature guidance and fusion to help help the
disparity estimation of ill-posed regions and
weakly textured regions.Our network is implemented
with PyTorch and Adam is used to train the network
end-to-end. The whole training process is carried
out on two Nvidia GTX 1080 Ti, the batch size is
set to 4. The entire disparity search range is set
to 192, and we use the smooth L1 loss as our loss
function.
Parameters:
learning rate is 0.001 and is down-scaled by 2 after
epoch 12, 16, 18.
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
All / All 1.47 3.30 1.78
All / Est 1.47 3.30 1.78
Noc / All 1.34 3.02 1.62
Noc / Est 1.34 3.02 1.62
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all
All / All 1.61 0.61 1.47
All / Est 1.61 0.61 1.47
Noc / All 1.55 0.61 1.42
Noc / Est 1.55 0.61 1.42
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 1

Error D1-bg D1-fg D1-all
All / All 1.39 2.41 1.51
All / Est 1.39 2.41 1.51
Noc / All 1.32 2.41 1.45
Noc / Est 1.32 2.41 1.45
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 2

Error D1-bg D1-fg D1-all
All / All 1.78 6.45 2.01
All / Est 1.78 6.45 2.01
Noc / All 1.59 6.45 1.83
Noc / Est 1.59 6.45 1.83
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 3

Error D1-bg D1-fg D1-all
All / All 1.82 0.61 1.70
All / Est 1.82 0.61 1.70
Noc / All 1.70 0.61 1.59
Noc / Est 1.70 0.61 1.59
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 4

Error D1-bg D1-fg D1-all
All / All 1.42 0.76 1.31
All / Est 1.42 0.76 1.31
Noc / All 1.42 0.76 1.31
Noc / Est 1.42 0.76 1.31
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 5

Error D1-bg D1-fg D1-all
All / All 2.21 1.72 2.17
All / Est 2.21 1.72 2.17
Noc / All 1.94 1.72 1.92
Noc / Est 1.94 1.72 1.92
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 6

Error D1-bg D1-fg D1-all
All / All 4.72 0.91 4.32
All / Est 4.72 0.91 4.32
Noc / All 4.82 0.91 4.40
Noc / Est 4.82 0.91 4.40
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 7

Error D1-bg D1-fg D1-all
All / All 0.33 3.68 0.99
All / Est 0.33 3.68 0.99
Noc / All 0.33 3.68 1.00
Noc / Est 0.33 3.68 1.00
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 8

Error D1-bg D1-fg D1-all
All / All 0.28 1.76 0.55
All / Est 0.28 1.76 0.55
Noc / All 0.27 1.76 0.55
Noc / Est 0.27 1.76 0.55
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 9

Error D1-bg D1-fg D1-all
All / All 0.31 1.36 0.57
All / Est 0.31 1.36 0.57
Noc / All 0.31 1.42 0.59
Noc / Est 0.31 1.42 0.59
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 10

Error D1-bg D1-fg D1-all
All / All 1.20 3.42 1.71
All / Est 1.20 3.42 1.71
Noc / All 1.21 3.42 1.72
Noc / Est 1.21 3.42 1.72
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 11

Error D1-bg D1-fg D1-all
All / All 0.79 0.62 0.76
All / Est 0.79 0.62 0.76
Noc / All 0.80 0.62 0.76
Noc / Est 0.80 0.62 0.76
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 12

Error D1-bg D1-fg D1-all
All / All 0.66 0.66 0.66
All / Est 0.66 0.66 0.66
Noc / All 0.51 0.66 0.52
Noc / Est 0.51 0.66 0.52
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 13

Error D1-bg D1-fg D1-all
All / All 0.67 0.06 0.59
All / Est 0.67 0.06 0.59
Noc / All 0.58 0.06 0.51
Noc / Est 0.58 0.06 0.51
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 14

Error D1-bg D1-fg D1-all
All / All 1.31 0.00 1.28
All / Est 1.31 0.00 1.28
Noc / All 1.22 0.00 1.20
Noc / Est 1.22 0.00 1.20
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 15

Error D1-bg D1-fg D1-all
All / All 2.63 0.20 2.41
All / Est 2.63 0.20 2.41
Noc / All 2.68 0.20 2.45
Noc / Est 2.68 0.20 2.45
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 16

Error D1-bg D1-fg D1-all
All / All 3.36 0.75 2.97
All / Est 3.36 0.75 2.97
Noc / All 3.22 0.75 2.85
Noc / Est 3.22 0.75 2.85
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 17

Error D1-bg D1-fg D1-all
All / All 0.72 0.38 0.69
All / Est 0.72 0.38 0.69
Noc / All 0.72 0.38 0.68
Noc / Est 0.72 0.38 0.68
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 18

Error D1-bg D1-fg D1-all
All / All 4.25 1.60 2.99
All / Est 4.25 1.60 2.99
Noc / All 4.12 1.60 2.91
Noc / Est 4.12 1.60 2.91
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 19

Error D1-bg D1-fg D1-all
All / All 0.79 0.58 0.77
All / Est 0.79 0.58 0.77
Noc / All 0.78 0.58 0.76
Noc / Est 0.78 0.58 0.76
This table as LaTeX

Input Image

D1 Result

D1 Error




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