Method

G2L-Stereo: Global to Local Disparity Two-Stage Real-Time Stereo Matching Network [G2L-Stereo]
[Anonymous Submission]

Submitted on 20 Sep. 2024 13:33 by
[Anonymous Submission]

Running time:0.05 s
Environment:GPU @ 1.5 Ghz (Python)

Method Description:
We have developed a lightweight stereo matching
network that achieves higher matching precision
without a substantial increase in computational
cost, by enhancing the aggregation process of the
cost volume and optimizing the post-processing of
disparity estimation based on the confidence of
the initial disparity estimates.
Parameters:
We finetune the pre-trained Scene Flow model on the
mixed KITTI 2012 and KITTI 2015 training sets for
400 epochs.
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 2.07 % 2.64 % 0.4 px 0.5 px
3 pixels 1.36 % 1.74 % 0.4 px 0.5 px
4 pixels 1.03 % 1.32 % 0.4 px 0.5 px
5 pixels 0.84 % 1.07 % 0.4 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.01 % 13.20 % 1.3 px 1.4 px
3 pixels 6.72 % 8.40 % 1.3 px 1.4 px
4 pixels 4.72 % 6.05 % 1.3 px 1.4 px
5 pixels 3.56 % 4.67 % 1.3 px 1.4 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.22 % 1.78 % 0.3 px 0.4 px
3 pixels 0.95 % 1.30 % 0.3 px 0.4 px
4 pixels 0.78 % 1.02 % 0.3 px 0.4 px
5 pixels 0.66 % 0.89 % 0.3 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.52 % 2.65 % 0.5 px 0.5 px
3 pixels 1.61 % 1.63 % 0.5 px 0.5 px
4 pixels 1.30 % 1.32 % 0.5 px 0.5 px
5 pixels 1.06 % 1.08 % 0.5 px 0.5 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.35 % 1.38 % 0.3 px 0.3 px
3 pixels 0.89 % 0.93 % 0.3 px 0.3 px
4 pixels 0.61 % 0.66 % 0.3 px 0.3 px
5 pixels 0.47 % 0.52 % 0.3 px 0.3 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.42 % 1.41 % 0.3 px 0.3 px
3 pixels 0.22 % 0.81 % 0.3 px 0.3 px
4 pixels 0.19 % 0.49 % 0.3 px 0.3 px
5 pixels 0.17 % 0.22 % 0.3 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.56 % 0.64 % 0.3 px 0.3 px
3 pixels 0.28 % 0.34 % 0.3 px 0.3 px
4 pixels 0.14 % 0.20 % 0.3 px 0.3 px
5 pixels 0.09 % 0.15 % 0.3 px 0.3 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.96 % 1.16 % 0.3 px 0.3 px
3 pixels 0.58 % 0.68 % 0.3 px 0.3 px
4 pixels 0.42 % 0.46 % 0.3 px 0.3 px
5 pixels 0.34 % 0.35 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.84 % 4.73 % 0.6 px 0.6 px
3 pixels 2.01 % 2.61 % 0.6 px 0.6 px
4 pixels 1.39 % 1.79 % 0.6 px 0.6 px
5 pixels 1.02 % 1.35 % 0.6 px 0.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.65 % 3.25 % 0.6 px 0.7 px
3 pixels 1.70 % 1.95 % 0.6 px 0.7 px
4 pixels 1.24 % 1.39 % 0.6 px 0.7 px
5 pixels 1.04 % 1.16 % 0.6 px 0.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.07 % 1.62 % 0.3 px 0.3 px
3 pixels 0.76 % 1.19 % 0.3 px 0.3 px
4 pixels 0.65 % 1.04 % 0.3 px 0.3 px
5 pixels 0.57 % 0.94 % 0.3 px 0.3 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.63 % 3.31 % 0.5 px 0.7 px
3 pixels 0.97 % 2.08 % 0.5 px 0.7 px
4 pixels 0.73 % 1.47 % 0.5 px 0.7 px
5 pixels 0.63 % 1.08 % 0.5 px 0.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.38 % 1.72 % 0.4 px 0.4 px
3 pixels 1.05 % 1.25 % 0.4 px 0.4 px
4 pixels 0.88 % 1.08 % 0.4 px 0.4 px
5 pixels 0.81 % 1.01 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.65 % 1.82 % 0.5 px 0.5 px
3 pixels 1.15 % 1.24 % 0.5 px 0.5 px
4 pixels 0.91 % 0.96 % 0.5 px 0.5 px
5 pixels 0.77 % 0.79 % 0.5 px 0.5 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.72 % 5.54 % 0.7 px 0.8 px
3 pixels 2.71 % 4.31 % 0.7 px 0.8 px
4 pixels 2.13 % 3.50 % 0.7 px 0.8 px
5 pixels 1.89 % 2.97 % 0.7 px 0.8 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.97 % 2.23 % 0.5 px 0.5 px
3 pixels 1.26 % 1.34 % 0.5 px 0.5 px
4 pixels 1.00 % 1.02 % 0.5 px 0.5 px
5 pixels 0.93 % 0.94 % 0.5 px 0.5 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.59 % 1.30 % 0.2 px 0.3 px
3 pixels 0.30 % 0.43 % 0.2 px 0.3 px
4 pixels 0.20 % 0.20 % 0.2 px 0.3 px
5 pixels 0.17 % 0.16 % 0.2 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.40 % 2.42 % 0.5 px 0.5 px
3 pixels 1.48 % 1.44 % 0.5 px 0.5 px
4 pixels 0.86 % 0.84 % 0.5 px 0.5 px
5 pixels 0.57 % 0.55 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.93 % 1.90 % 0.4 px 0.4 px
3 pixels 0.97 % 0.96 % 0.4 px 0.4 px
4 pixels 0.59 % 0.58 % 0.4 px 0.4 px
5 pixels 0.43 % 0.42 % 0.4 px 0.4 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.63 % 4.83 % 0.5 px 0.6 px
3 pixels 2.64 % 3.82 % 0.5 px 0.6 px
4 pixels 1.98 % 2.87 % 0.5 px 0.6 px
5 pixels 1.52 % 2.01 % 0.5 px 0.6 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.46 % 0.78 % 0.2 px 0.3 px
3 pixels 0.32 % 0.40 % 0.2 px 0.3 px
4 pixels 0.26 % 0.31 % 0.2 px 0.3 px
5 pixels 0.21 % 0.21 % 0.2 px 0.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.78 % 0.75 % 0.4 px 0.4 px
3 pixels 0.56 % 0.54 % 0.4 px 0.4 px
4 pixels 0.48 % 0.47 % 0.4 px 0.4 px
5 pixels 0.41 % 0.40 % 0.4 px 0.4 px
This table as LaTeX







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