Method

Global Attention Via Multi-scale Context for Depth Measurement Algorithm [GAMNet]


Submitted on 30 Sep. 2022 17:33 by
Wei Wang (Guangdong University of Technology)

Running time:1 s
Environment:GPU @ 2.5 Ghz (Python)

Method Description:
Deep neural networks significantly enhance the
accuracy of the stereo-based depth measurement.
Some current methods suffer from inefficient use
of the global context information, which will lead
to the loss of structural details in ill-posed
areas. To this end, we design a novel stereo
network GAMNet composed of three core components
(GDA, MPF, DCA) for measuring the depth
information in challenging real-world
environments. Firstly, we present a lightweight
attention module, integrating the global semantic
cues for every feature position across the channel
and spatial dimensions. Next, we construct the MPF
module to fuse the diverse semantic and contextual
information from different levels of the feature
pyramid. Finally, we aggregate cost volume with a
stacked encoder-decoder composed of our DCA module
and 3D convolutions, filtering the transmission of
matching clues and capturing the rich global
contexts.
Parameters:
Number of model parameters: 7125754
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 1.67 3.78 2.02
All / Est 1.67 3.78 2.02
Noc / All 1.52 3.36 1.83
Noc / Est 1.52 3.36 1.83
This table as LaTeX

Test Image 0

Error D1-bg D1-fg D1-all
All / All 1.47 1.00 1.41
All / Est 1.47 1.00 1.41
Noc / All 1.41 1.00 1.35
Noc / Est 1.41 1.00 1.35
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 1

Error D1-bg D1-fg D1-all
All / All 1.64 2.01 1.68
All / Est 1.64 2.01 1.68
Noc / All 1.55 2.01 1.61
Noc / Est 1.55 2.01 1.61
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 2

Error D1-bg D1-fg D1-all
All / All 2.25 2.19 2.25
All / Est 2.25 2.19 2.25
Noc / All 2.15 2.19 2.15
Noc / Est 2.15 2.19 2.15
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 3

Error D1-bg D1-fg D1-all
All / All 1.83 0.43 1.70
All / Est 1.83 0.43 1.70
Noc / All 1.81 0.43 1.68
Noc / Est 1.81 0.43 1.68
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 4

Error D1-bg D1-fg D1-all
All / All 2.21 0.75 1.97
All / Est 2.21 0.75 1.97
Noc / All 2.22 0.75 1.97
Noc / Est 2.22 0.75 1.97
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 5

Error D1-bg D1-fg D1-all
All / All 3.03 2.81 3.01
All / Est 3.03 2.81 3.01
Noc / All 2.68 2.81 2.69
Noc / Est 2.68 2.81 2.69
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 6

Error D1-bg D1-fg D1-all
All / All 4.73 1.71 4.41
All / Est 4.73 1.71 4.41
Noc / All 4.83 1.71 4.49
Noc / Est 4.83 1.71 4.49
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 7

Error D1-bg D1-fg D1-all
All / All 0.34 5.40 1.33
All / Est 0.34 5.40 1.33
Noc / All 0.35 5.40 1.35
Noc / Est 0.35 5.40 1.35
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 8

Error D1-bg D1-fg D1-all
All / All 0.34 2.17 0.68
All / Est 0.34 2.17 0.68
Noc / All 0.34 2.17 0.68
Noc / Est 0.34 2.17 0.68
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 9

Error D1-bg D1-fg D1-all
All / All 0.40 1.77 0.75
All / Est 0.40 1.77 0.75
Noc / All 0.40 1.86 0.76
Noc / Est 0.40 1.86 0.76
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 10

Error D1-bg D1-fg D1-all
All / All 1.06 3.03 1.51
All / Est 1.06 3.03 1.51
Noc / All 1.06 3.03 1.52
Noc / Est 1.06 3.03 1.52
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 11

Error D1-bg D1-fg D1-all
All / All 0.88 0.47 0.80
All / Est 0.88 0.47 0.80
Noc / All 0.88 0.47 0.80
Noc / Est 0.88 0.47 0.80
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 12

Error D1-bg D1-fg D1-all
All / All 0.74 0.37 0.71
All / Est 0.74 0.37 0.71
Noc / All 0.59 0.37 0.58
Noc / Est 0.59 0.37 0.58
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 13

Error D1-bg D1-fg D1-all
All / All 0.73 0.14 0.65
All / Est 0.73 0.14 0.65
Noc / All 0.62 0.14 0.56
Noc / Est 0.62 0.14 0.56
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 14

Error D1-bg D1-fg D1-all
All / All 1.45 0.17 1.43
All / Est 1.45 0.17 1.43
Noc / All 1.33 0.17 1.31
Noc / Est 1.33 0.17 1.31
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 15

Error D1-bg D1-fg D1-all
All / All 2.43 0.12 2.22
All / Est 2.43 0.12 2.22
Noc / All 2.48 0.12 2.26
Noc / Est 2.48 0.12 2.26
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 16

Error D1-bg D1-fg D1-all
All / All 3.57 0.03 3.05
All / Est 3.57 0.03 3.05
Noc / All 3.41 0.03 2.91
Noc / Est 3.41 0.03 2.91
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 17

Error D1-bg D1-fg D1-all
All / All 0.71 0.03 0.64
All / Est 0.71 0.03 0.64
Noc / All 0.72 0.03 0.65
Noc / Est 0.72 0.03 0.65
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 18

Error D1-bg D1-fg D1-all
All / All 4.51 0.63 2.67
All / Est 4.51 0.63 2.67
Noc / All 4.41 0.63 2.60
Noc / Est 4.41 0.63 2.60
This table as LaTeX

Input Image

D1 Result

D1 Error


Test Image 19

Error D1-bg D1-fg D1-all
All / All 0.79 1.13 0.83
All / Est 0.79 1.13 0.83
Noc / All 0.77 1.13 0.81
Noc / Est 0.77 1.13 0.81
This table as LaTeX

Input Image

D1 Result

D1 Error




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