Method

Efficient Fused Stereo Network [EFSNet]


Submitted on 29 Jul. 2025 16:27 by
Izzun Ibadik (Bandung Institute of Technology)

Running time:0.01 s
Environment:GPU @ 2.5 Ghz (Python)

Method Description:
We present EFSNet, a stereo matching network
engineered for an optimal balance between accuracy
and real-time performance. Its core innovation is
a
hybrid 2D-3D aggregation module that
synergistically fuses information from parallel
cost representations to capture both robust
context
and fine spatial details. The network also
incorporates a dual-path refinement strategy that
specializes in textured and untextured regions to
maximize accuracy. Benchmark comparisons
demonstrate that EFSNet delivers a superior
combination of speed and computational efficiency,
establishing it as among the fastest state-of-the-
art methods.
Parameters:
Parameters=4.593 M
Latex Bibtex:
@article{ibadik5388872efsnet,
title={Efsnet: Lightweight Stereo Matching Through
Hybrid Cost Volume Fusion and Multi-Scale
Refinement},
author={Ibadik, Izzun Nafis and Hidayat, Egi
Muhammad Idris},
journal={Available at SSRN 5388872}
}

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 2.94 % 3.54 % 0.5 px 0.6 px
3 pixels 1.76 % 2.17 % 0.5 px 0.6 px
4 pixels 1.27 % 1.58 % 0.5 px 0.6 px
5 pixels 0.99 % 1.24 % 0.5 px 0.6 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.74 % 15.28 % 1.4 px 1.6 px
3 pixels 7.12 % 9.19 % 1.4 px 1.6 px
4 pixels 4.90 % 6.47 % 1.4 px 1.6 px
5 pixels 3.75 % 4.93 % 1.4 px 1.6 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.84 % 2.06 % 0.4 px 0.5 px
3 pixels 1.25 % 1.46 % 0.4 px 0.5 px
4 pixels 1.01 % 1.21 % 0.4 px 0.5 px
5 pixels 0.78 % 0.98 % 0.4 px 0.5 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.76 % 3.94 % 0.6 px 0.6 px
3 pixels 2.25 % 2.33 % 0.6 px 0.6 px
4 pixels 1.69 % 1.76 % 0.6 px 0.6 px
5 pixels 1.31 % 1.37 % 0.6 px 0.6 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.73 % 2.76 % 0.4 px 0.4 px
3 pixels 1.06 % 1.10 % 0.4 px 0.4 px
4 pixels 0.60 % 0.65 % 0.4 px 0.4 px
5 pixels 0.44 % 0.48 % 0.4 px 0.4 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.88 % 2.09 % 0.4 px 0.4 px
3 pixels 0.27 % 0.94 % 0.4 px 0.4 px
4 pixels 0.19 % 0.42 % 0.4 px 0.4 px
5 pixels 0.16 % 0.32 % 0.4 px 0.4 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.98 % 2.17 % 0.4 px 0.4 px
3 pixels 0.86 % 1.03 % 0.4 px 0.4 px
4 pixels 0.38 % 0.56 % 0.4 px 0.4 px
5 pixels 0.13 % 0.30 % 0.4 px 0.4 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.10 % 1.27 % 0.3 px 0.4 px
3 pixels 0.63 % 0.70 % 0.3 px 0.4 px
4 pixels 0.45 % 0.48 % 0.3 px 0.4 px
5 pixels 0.38 % 0.39 % 0.3 px 0.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.01 % 6.26 % 0.7 px 0.7 px
3 pixels 2.49 % 3.33 % 0.7 px 0.7 px
4 pixels 1.64 % 1.94 % 0.7 px 0.7 px
5 pixels 1.23 % 1.37 % 0.7 px 0.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.11 % 3.94 % 0.7 px 0.7 px
3 pixels 1.69 % 2.10 % 0.7 px 0.7 px
4 pixels 1.27 % 1.58 % 0.7 px 0.7 px
5 pixels 1.08 % 1.28 % 0.7 px 0.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.22 % 2.74 % 0.4 px 0.5 px
3 pixels 1.23 % 1.72 % 0.4 px 0.5 px
4 pixels 0.87 % 1.33 % 0.4 px 0.5 px
5 pixels 0.71 % 1.12 % 0.4 px 0.5 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.59 % 3.11 % 0.6 px 0.8 px
3 pixels 1.33 % 1.66 % 0.6 px 0.8 px
4 pixels 0.92 % 1.23 % 0.6 px 0.8 px
5 pixels 0.75 % 1.05 % 0.6 px 0.8 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.98 % 2.52 % 0.4 px 0.5 px
3 pixels 1.28 % 1.52 % 0.4 px 0.5 px
4 pixels 1.00 % 1.21 % 0.4 px 0.5 px
5 pixels 0.90 % 1.10 % 0.4 px 0.5 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.77 % 2.93 % 0.6 px 0.6 px
3 pixels 1.51 % 1.60 % 0.6 px 0.6 px
4 pixels 1.06 % 1.11 % 0.6 px 0.6 px
5 pixels 0.76 % 0.78 % 0.6 px 0.6 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.91 % 5.80 % 0.7 px 0.8 px
3 pixels 2.57 % 4.07 % 0.7 px 0.8 px
4 pixels 1.98 % 3.06 % 0.7 px 0.8 px
5 pixels 1.68 % 2.45 % 0.7 px 0.8 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.45 % 3.27 % 0.6 px 0.6 px
3 pixels 1.41 % 2.03 % 0.6 px 0.6 px
4 pixels 1.16 % 1.63 % 0.6 px 0.6 px
5 pixels 0.98 % 1.31 % 0.6 px 0.6 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.78 % 0.76 % 0.3 px 0.3 px
3 pixels 0.51 % 0.50 % 0.3 px 0.3 px
4 pixels 0.42 % 0.41 % 0.3 px 0.3 px
5 pixels 0.33 % 0.32 % 0.3 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.05 % 2.99 % 0.5 px 0.5 px
3 pixels 1.75 % 1.71 % 0.5 px 0.5 px
4 pixels 0.96 % 0.94 % 0.5 px 0.5 px
5 pixels 0.60 % 0.59 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.22 % 3.16 % 0.6 px 0.6 px
3 pixels 1.27 % 1.25 % 0.6 px 0.6 px
4 pixels 0.66 % 0.65 % 0.6 px 0.6 px
5 pixels 0.42 % 0.41 % 0.6 px 0.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.96 % 5.76 % 0.6 px 0.7 px
3 pixels 3.12 % 3.79 % 0.6 px 0.7 px
4 pixels 2.18 % 2.65 % 0.6 px 0.7 px
5 pixels 1.54 % 1.71 % 0.6 px 0.7 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.65 % 0.69 % 0.3 px 0.3 px
3 pixels 0.41 % 0.42 % 0.3 px 0.3 px
4 pixels 0.28 % 0.28 % 0.3 px 0.3 px
5 pixels 0.21 % 0.21 % 0.3 px 0.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.24 % 1.21 % 0.4 px 0.4 px
3 pixels 0.79 % 0.76 % 0.4 px 0.4 px
4 pixels 0.61 % 0.59 % 0.4 px 0.4 px
5 pixels 0.47 % 0.45 % 0.4 px 0.4 px
This table as LaTeX







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