Method

Stereo Compact Inference-Oriented Network for Efficient Depth Estimation via Distribution-Augmented [SCION-MonSter]


Submitted on 7 Apr. 2026 06:56 by
YILIN LEI (NANJING University)

Running time:0.11 s
Environment:GPU @ 2.5 Ghz (Python + C/C++)

Method Description:
We present SCION-MonSter, a lightweight stereo
depth estimation network built upon the MonSter
architecture. By compressing the backbone,
recurrent refinement, and cost aggregation while
retaining a dual monocular--stereo design, we
target real-time inference on resource-constrained
hardware. A two-level Distribution-Augmented
Knowledge Distillation (DAKD) framework supervises
the student at both output and cost-volume levels,
and a Reprojection Error-guided Mono--Stereo
Refinement (REMSR) module corrects the stereo
disparity using photometric reprojection cues from
both branches
Parameters:
learning_rate 5e-5
total_step 40000*5
finetune from sceneflow
Latex Bibtex:

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 1.44 % 1.86 % 0.4 px 0.4 px
3 pixels 0.89 % 1.14 % 0.4 px 0.4 px
4 pixels 0.67 % 0.86 % 0.4 px 0.4 px
5 pixels 0.55 % 0.70 % 0.4 px 0.4 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.89 % 6.89 % 0.7 px 0.8 px
3 pixels 2.94 % 3.49 % 0.7 px 0.8 px
4 pixels 1.87 % 2.25 % 0.7 px 0.8 px
5 pixels 1.33 % 1.59 % 0.7 px 0.8 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.89 % 1.10 % 0.3 px 0.3 px
3 pixels 0.62 % 0.83 % 0.3 px 0.3 px
4 pixels 0.45 % 0.66 % 0.3 px 0.3 px
5 pixels 0.35 % 0.57 % 0.3 px 0.3 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.11 % 4.42 % 0.6 px 0.7 px
3 pixels 1.85 % 2.14 % 0.6 px 0.7 px
4 pixels 1.34 % 1.45 % 0.6 px 0.7 px
5 pixels 1.15 % 1.17 % 0.6 px 0.7 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.47 % 0.51 % 0.2 px 0.2 px
3 pixels 0.33 % 0.38 % 0.2 px 0.2 px
4 pixels 0.26 % 0.30 % 0.2 px 0.2 px
5 pixels 0.23 % 0.27 % 0.2 px 0.2 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.08 % 1.52 % 0.4 px 0.4 px
3 pixels 0.42 % 0.47 % 0.4 px 0.4 px
4 pixels 0.30 % 0.32 % 0.4 px 0.4 px
5 pixels 0.27 % 0.29 % 0.4 px 0.4 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.18 % 0.25 % 0.2 px 0.3 px
3 pixels 0.13 % 0.16 % 0.2 px 0.3 px
4 pixels 0.12 % 0.15 % 0.2 px 0.3 px
5 pixels 0.09 % 0.12 % 0.2 px 0.3 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.61 % 0.75 % 0.3 px 0.3 px
3 pixels 0.43 % 0.51 % 0.3 px 0.3 px
4 pixels 0.31 % 0.39 % 0.3 px 0.3 px
5 pixels 0.28 % 0.32 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.44 % 2.87 % 0.4 px 0.5 px
3 pixels 1.43 % 1.80 % 0.4 px 0.5 px
4 pixels 1.02 % 1.36 % 0.4 px 0.5 px
5 pixels 0.83 % 1.12 % 0.4 px 0.5 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.13 % 1.41 % 0.4 px 0.5 px
3 pixels 0.71 % 0.81 % 0.4 px 0.5 px
4 pixels 0.59 % 0.64 % 0.4 px 0.5 px
5 pixels 0.54 % 0.58 % 0.4 px 0.5 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.83 % 0.98 % 0.3 px 0.3 px
3 pixels 0.60 % 0.65 % 0.3 px 0.3 px
4 pixels 0.50 % 0.51 % 0.3 px 0.3 px
5 pixels 0.44 % 0.45 % 0.3 px 0.3 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.79 % 1.11 % 0.4 px 0.6 px
3 pixels 0.46 % 0.74 % 0.4 px 0.6 px
4 pixels 0.41 % 0.65 % 0.4 px 0.6 px
5 pixels 0.39 % 0.61 % 0.4 px 0.6 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.90 % 1.16 % 0.3 px 0.3 px
3 pixels 0.56 % 0.60 % 0.3 px 0.3 px
4 pixels 0.40 % 0.42 % 0.3 px 0.3 px
5 pixels 0.35 % 0.36 % 0.3 px 0.3 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.90 % 0.87 % 0.4 px 0.4 px
3 pixels 0.54 % 0.52 % 0.4 px 0.4 px
4 pixels 0.38 % 0.37 % 0.4 px 0.4 px
5 pixels 0.32 % 0.31 % 0.4 px 0.4 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.62 % 2.58 % 0.4 px 0.5 px
3 pixels 1.18 % 1.56 % 0.4 px 0.5 px
4 pixels 0.92 % 1.05 % 0.4 px 0.5 px
5 pixels 0.81 % 0.85 % 0.4 px 0.5 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.04 % 1.57 % 0.3 px 0.4 px
3 pixels 0.75 % 1.11 % 0.3 px 0.4 px
4 pixels 0.61 % 0.86 % 0.3 px 0.4 px
5 pixels 0.52 % 0.68 % 0.3 px 0.4 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.30 % 0.31 % 0.4 px 0.4 px
3 pixels 0.17 % 0.16 % 0.4 px 0.4 px
4 pixels 0.15 % 0.14 % 0.4 px 0.4 px
5 pixels 0.12 % 0.11 % 0.4 px 0.4 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.20 % 2.15 % 0.4 px 0.4 px
3 pixels 1.44 % 1.40 % 0.4 px 0.4 px
4 pixels 0.78 % 0.76 % 0.4 px 0.4 px
5 pixels 0.44 % 0.43 % 0.4 px 0.4 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.21 % 1.19 % 0.4 px 0.4 px
3 pixels 0.64 % 0.63 % 0.4 px 0.4 px
4 pixels 0.41 % 0.40 % 0.4 px 0.4 px
5 pixels 0.30 % 0.30 % 0.4 px 0.4 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.00 % 2.34 % 0.4 px 0.5 px
3 pixels 1.34 % 1.55 % 0.4 px 0.5 px
4 pixels 1.11 % 1.24 % 0.4 px 0.5 px
5 pixels 0.99 % 1.11 % 0.4 px 0.5 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.35 % 0.45 % 0.2 px 0.2 px
3 pixels 0.20 % 0.21 % 0.2 px 0.2 px
4 pixels 0.18 % 0.19 % 0.2 px 0.2 px
5 pixels 0.14 % 0.15 % 0.2 px 0.2 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.82 % 0.79 % 0.4 px 0.3 px
3 pixels 0.62 % 0.60 % 0.4 px 0.3 px
4 pixels 0.56 % 0.55 % 0.4 px 0.3 px
5 pixels 0.49 % 0.47 % 0.4 px 0.3 px
This table as LaTeX







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