Method

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


Submitted on 7 Nov. 2022 14:04 by
HuiTong Yang (Guangzhou University of Chinese Medicine)

Running time:1 s
Environment:1 core @ 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 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 2.16 % 2.80 % 0.5 px 0.5 px
3 pixels 1.34 % 1.80 % 0.5 px 0.5 px
4 pixels 1.01 % 1.36 % 0.5 px 0.5 px
5 pixels 0.82 % 1.11 % 0.5 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.64 % 16.24 % 1.4 px 1.6 px
3 pixels 8.44 % 10.60 % 1.4 px 1.6 px
4 pixels 6.04 % 7.81 % 1.4 px 1.6 px
5 pixels 4.69 % 6.15 % 1.4 px 1.6 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.41 % 1.69 % 0.4 px 0.4 px
3 pixels 0.95 % 1.16 % 0.4 px 0.4 px
4 pixels 0.64 % 0.84 % 0.4 px 0.4 px
5 pixels 0.49 % 0.68 % 0.4 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.53 % 2.72 % 0.5 px 0.5 px
3 pixels 1.49 % 1.58 % 0.5 px 0.5 px
4 pixels 1.17 % 1.26 % 0.5 px 0.5 px
5 pixels 1.00 % 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 0.75 % 1.56 % 0.3 px 0.3 px
3 pixels 0.42 % 1.10 % 0.3 px 0.3 px
4 pixels 0.29 % 0.79 % 0.3 px 0.3 px
5 pixels 0.24 % 0.61 % 0.3 px 0.3 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.76 % 1.66 % 0.3 px 0.3 px
3 pixels 0.25 % 0.72 % 0.3 px 0.3 px
4 pixels 0.16 % 0.33 % 0.3 px 0.3 px
5 pixels 0.12 % 0.14 % 0.3 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.85 % 0.96 % 0.3 px 0.4 px
3 pixels 0.60 % 0.66 % 0.3 px 0.4 px
4 pixels 0.43 % 0.49 % 0.3 px 0.4 px
5 pixels 0.23 % 0.29 % 0.3 px 0.4 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.90 % 1.03 % 0.3 px 0.3 px
3 pixels 0.51 % 0.59 % 0.3 px 0.3 px
4 pixels 0.40 % 0.45 % 0.3 px 0.3 px
5 pixels 0.34 % 0.38 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.10 % 3.55 % 0.5 px 0.6 px
3 pixels 1.71 % 1.99 % 0.5 px 0.6 px
4 pixels 1.11 % 1.32 % 0.5 px 0.6 px
5 pixels 0.80 % 0.98 % 0.5 px 0.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.77 % 2.79 % 0.5 px 0.6 px
3 pixels 1.01 % 1.52 % 0.5 px 0.6 px
4 pixels 0.76 % 1.11 % 0.5 px 0.6 px
5 pixels 0.65 % 0.92 % 0.5 px 0.6 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.22 % 1.67 % 0.4 px 0.4 px
3 pixels 0.81 % 1.25 % 0.4 px 0.4 px
4 pixels 0.68 % 1.11 % 0.4 px 0.4 px
5 pixels 0.60 % 0.98 % 0.4 px 0.4 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.79 % 2.28 % 0.5 px 0.7 px
3 pixels 1.13 % 1.51 % 0.5 px 0.7 px
4 pixels 0.87 % 1.24 % 0.5 px 0.7 px
5 pixels 0.71 % 1.06 % 0.5 px 0.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.06 % 1.18 % 0.3 px 0.3 px
3 pixels 0.66 % 0.69 % 0.3 px 0.3 px
4 pixels 0.49 % 0.51 % 0.3 px 0.3 px
5 pixels 0.42 % 0.44 % 0.3 px 0.3 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.78 % 2.75 % 0.5 px 0.5 px
3 pixels 1.02 % 1.40 % 0.5 px 0.5 px
4 pixels 0.82 % 0.92 % 0.5 px 0.5 px
5 pixels 0.74 % 0.75 % 0.5 px 0.5 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.12 % 5.87 % 0.7 px 1.7 px
3 pixels 3.07 % 4.71 % 0.7 px 1.7 px
4 pixels 2.54 % 4.09 % 0.7 px 1.7 px
5 pixels 2.30 % 3.79 % 0.7 px 1.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.87 % 2.67 % 0.6 px 0.6 px
3 pixels 1.29 % 1.52 % 0.6 px 0.6 px
4 pixels 1.08 % 1.09 % 0.6 px 0.6 px
5 pixels 0.98 % 0.98 % 0.6 px 0.6 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.31 % 0.31 % 0.3 px 0.3 px
3 pixels 0.15 % 0.15 % 0.3 px 0.3 px
4 pixels 0.12 % 0.12 % 0.3 px 0.3 px
5 pixels 0.10 % 0.10 % 0.3 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.61 % 2.74 % 0.5 px 0.5 px
3 pixels 1.42 % 1.41 % 0.5 px 0.5 px
4 pixels 0.80 % 0.78 % 0.5 px 0.5 px
5 pixels 0.50 % 0.49 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.87 % 1.84 % 0.4 px 0.5 px
3 pixels 0.82 % 0.81 % 0.4 px 0.5 px
4 pixels 0.52 % 0.51 % 0.4 px 0.5 px
5 pixels 0.38 % 0.37 % 0.4 px 0.5 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.77 % 5.06 % 0.5 px 0.6 px
3 pixels 2.58 % 3.54 % 0.5 px 0.6 px
4 pixels 1.87 % 2.51 % 0.5 px 0.6 px
5 pixels 1.38 % 1.55 % 0.5 px 0.6 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.55 % 0.69 % 0.3 px 0.3 px
3 pixels 0.37 % 0.48 % 0.3 px 0.3 px
4 pixels 0.27 % 0.30 % 0.3 px 0.3 px
5 pixels 0.22 % 0.22 % 0.3 px 0.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.11 % 1.08 % 0.4 px 0.4 px
3 pixels 0.64 % 0.62 % 0.4 px 0.4 px
4 pixels 0.46 % 0.45 % 0.4 px 0.4 px
5 pixels 0.40 % 0.39 % 0.4 px 0.4 px
This table as LaTeX







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