Method

Toast2 using slanted plane models and census transform [st] [Toast2]


Submitted on 6 Mar. 2014 20:00 by
Benjamin Ranft (FZI Research Center for information Technology)

Running time:0.03 s
Environment:4 cores @ 3.5 Ghz (C/C++)

Method Description:
- census transform pre-processing
- block matching, fronto-parallel plus up to 3
slanted plane models
- filtering via distance metric and left-right
consistency check
- fusion via pixel-wise plane model selection
Parameters:
matching window = 11px
Hamming distance threshold = 30%
consistency tolerance = 3px
Latex Bibtex:
@inproceedings{ranft2014modeling,
title={Modeling Arbitrarily Oriented Slanted
Planes for Efficient Stereo Vision based on Block
Matching},
author={Ranft, Benjamin and Strau{\ss},
Tobias},
booktitle={Intelligent Transportation Systems
(ITSC), 2014 IEEE 17th International Conference
on},
pages={1941--1947},
year={2014},
organization={IEEE}
}

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 9.63 % 11.09 % 1.2 px 1.4 px
3 pixels 6.16 % 7.42 % 1.2 px 1.4 px
4 pixels 4.69 % 5.75 % 1.2 px 1.4 px
5 pixels 3.84 % 4.72 % 1.2 px 1.4 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 36.00 % 38.90 % 5.0 px 5.7 px
3 pixels 27.85 % 30.88 % 5.0 px 5.7 px
4 pixels 23.11 % 26.12 % 5.0 px 5.7 px
5 pixels 19.91 % 22.82 % 5.0 px 5.7 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.35 % 12.03 % 1.0 px 1.1 px
3 pixels 6.73 % 8.07 % 1.0 px 1.1 px
4 pixels 5.17 % 6.23 % 1.0 px 1.1 px
5 pixels 3.95 % 4.74 % 1.0 px 1.1 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.44 % 11.12 % 1.0 px 1.1 px
3 pixels 5.15 % 7.29 % 1.0 px 1.1 px
4 pixels 3.82 % 5.33 % 1.0 px 1.1 px
5 pixels 2.95 % 3.96 % 1.0 px 1.1 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.01 % 11.19 % 1.1 px 1.1 px
3 pixels 6.43 % 7.16 % 1.1 px 1.1 px
4 pixels 4.66 % 4.95 % 1.1 px 1.1 px
5 pixels 3.68 % 3.82 % 1.1 px 1.1 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.49 % 14.51 % 1.1 px 1.3 px
3 pixels 6.60 % 8.45 % 1.1 px 1.3 px
4 pixels 4.24 % 5.78 % 1.1 px 1.3 px
5 pixels 3.00 % 4.24 % 1.1 px 1.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.24 % 10.52 % 0.9 px 1.1 px
3 pixels 4.54 % 5.73 % 0.9 px 1.1 px
4 pixels 2.95 % 3.62 % 0.9 px 1.1 px
5 pixels 2.10 % 2.65 % 0.9 px 1.1 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.30 % 4.73 % 0.7 px 0.7 px
3 pixels 2.16 % 2.31 % 0.7 px 0.7 px
4 pixels 1.52 % 1.63 % 0.7 px 0.7 px
5 pixels 1.24 % 1.35 % 0.7 px 0.7 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.14 % 11.48 % 1.4 px 1.5 px
3 pixels 6.78 % 7.76 % 1.4 px 1.5 px
4 pixels 5.33 % 6.10 % 1.4 px 1.5 px
5 pixels 4.41 % 4.99 % 1.4 px 1.5 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.58 % 14.59 % 1.6 px 1.8 px
3 pixels 7.65 % 9.48 % 1.6 px 1.8 px
4 pixels 5.56 % 7.12 % 1.6 px 1.8 px
5 pixels 4.44 % 5.66 % 1.6 px 1.8 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.23 % 5.25 % 0.6 px 0.7 px
3 pixels 2.07 % 2.78 % 0.6 px 0.7 px
4 pixels 1.37 % 1.93 % 0.6 px 0.7 px
5 pixels 1.10 % 1.65 % 0.6 px 0.7 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.48 % 17.55 % 1.5 px 1.9 px
3 pixels 10.34 % 12.46 % 1.5 px 1.9 px
4 pixels 7.76 % 9.66 % 1.5 px 1.9 px
5 pixels 6.37 % 8.02 % 1.5 px 1.9 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.86 % 7.19 % 0.8 px 0.9 px
3 pixels 3.42 % 4.49 % 0.8 px 0.9 px
4 pixels 2.51 % 3.34 % 0.8 px 0.9 px
5 pixels 2.00 % 2.66 % 0.8 px 0.9 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 16.69 % 19.45 % 1.8 px 1.9 px
3 pixels 10.79 % 13.38 % 1.8 px 1.9 px
4 pixels 7.86 % 10.05 % 1.8 px 1.9 px
5 pixels 6.31 % 7.99 % 1.8 px 1.9 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.80 % 12.09 % 1.7 px 2.3 px
3 pixels 7.43 % 9.76 % 1.7 px 2.3 px
4 pixels 6.22 % 8.55 % 1.7 px 2.3 px
5 pixels 5.66 % 7.94 % 1.7 px 2.3 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.71 % 10.90 % 1.5 px 1.7 px
3 pixels 6.81 % 8.01 % 1.5 px 1.7 px
4 pixels 5.65 % 6.66 % 1.5 px 1.7 px
5 pixels 5.08 % 5.98 % 1.5 px 1.7 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.99 % 11.90 % 1.2 px 1.3 px
3 pixels 7.51 % 8.18 % 1.2 px 1.3 px
4 pixels 5.78 % 6.34 % 1.2 px 1.3 px
5 pixels 4.82 % 5.06 % 1.2 px 1.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.41 % 10.34 % 0.9 px 1.0 px
3 pixels 5.10 % 5.65 % 0.9 px 1.0 px
4 pixels 3.12 % 3.47 % 0.9 px 1.0 px
5 pixels 2.14 % 2.29 % 0.9 px 1.0 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.21 % 5.91 % 0.7 px 0.7 px
3 pixels 2.33 % 2.79 % 0.7 px 0.7 px
4 pixels 1.44 % 1.79 % 0.7 px 0.7 px
5 pixels 1.02 % 1.36 % 0.7 px 0.7 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.91 % 11.07 % 1.3 px 1.4 px
3 pixels 7.26 % 8.10 % 1.3 px 1.4 px
4 pixels 6.12 % 6.64 % 1.3 px 1.4 px
5 pixels 5.15 % 5.43 % 1.3 px 1.4 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.46 % 10.22 % 0.9 px 1.0 px
3 pixels 6.78 % 7.41 % 0.9 px 1.0 px
4 pixels 5.62 % 6.18 % 0.9 px 1.0 px
5 pixels 4.68 % 5.11 % 0.9 px 1.0 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.77 % 6.05 % 0.8 px 0.8 px
3 pixels 2.75 % 3.35 % 0.8 px 0.8 px
4 pixels 2.07 % 2.22 % 0.8 px 0.8 px
5 pixels 1.66 % 1.71 % 0.8 px 0.8 px
This table as LaTeX







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