Method

Mobile Manipulation Stereo [MMStereo]


Submitted on 26 Aug. 2021 05:14 by
Mark Tjersland (Toyota Research Institute)

Running time:0.04 s
Environment:Nvidia Titan RTX (Python)

Method Description:
A lightweight network with dilated ResNet feature
extractor, a correlation cost volume run at a low
resolution, and a refinement network to get a full
resolution disparity output.
Parameters:
max_disparity=256
cost_volume_downsample=4
Latex Bibtex:
@unpublished{unpublished,
author = {Krishna Shankar and Mark
Tjersland and Jeremy Ma and Kevin Stone and Max
Bajracharya},
title = {A Learned Stereo Depth System for
Robotic Manipulation in Homes},
note = {ICRA 2022 submission}
}

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 3.33 % 3.98 % 0.6 px 0.7 px
3 pixels 2.04 % 2.52 % 0.6 px 0.7 px
4 pixels 1.52 % 1.90 % 0.6 px 0.7 px
5 pixels 1.22 % 1.55 % 0.6 px 0.7 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.62 % 16.99 % 1.6 px 1.7 px
3 pixels 9.27 % 11.17 % 1.6 px 1.7 px
4 pixels 6.78 % 8.23 % 1.6 px 1.7 px
5 pixels 5.36 % 6.42 % 1.6 px 1.7 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.33 % 3.22 % 0.4 px 0.5 px
3 pixels 1.30 % 1.96 % 0.4 px 0.5 px
4 pixels 0.97 % 1.29 % 0.4 px 0.5 px
5 pixels 0.79 % 1.05 % 0.4 px 0.5 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.84 % 4.45 % 0.6 px 0.6 px
3 pixels 2.32 % 2.66 % 0.6 px 0.6 px
4 pixels 1.88 % 2.03 % 0.6 px 0.6 px
5 pixels 1.53 % 1.56 % 0.6 px 0.6 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.75 % 4.84 % 0.5 px 0.5 px
3 pixels 1.43 % 2.52 % 0.5 px 0.5 px
4 pixels 0.79 % 1.68 % 0.5 px 0.5 px
5 pixels 0.67 % 1.16 % 0.5 px 0.5 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.19 % 1.65 % 0.4 px 0.4 px
3 pixels 0.65 % 0.68 % 0.4 px 0.4 px
4 pixels 0.48 % 0.50 % 0.4 px 0.4 px
5 pixels 0.39 % 0.39 % 0.4 px 0.4 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.13 % 1.49 % 0.4 px 0.5 px
3 pixels 0.83 % 1.10 % 0.4 px 0.5 px
4 pixels 0.70 % 0.96 % 0.4 px 0.5 px
5 pixels 0.51 % 0.76 % 0.4 px 0.5 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.56 % 1.69 % 0.4 px 0.4 px
3 pixels 1.00 % 1.05 % 0.4 px 0.4 px
4 pixels 0.78 % 0.78 % 0.4 px 0.4 px
5 pixels 0.64 % 0.64 % 0.4 px 0.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.92 % 6.12 % 0.7 px 0.7 px
3 pixels 2.74 % 2.89 % 0.7 px 0.7 px
4 pixels 1.73 % 1.84 % 0.7 px 0.7 px
5 pixels 1.25 % 1.31 % 0.7 px 0.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.82 % 3.48 % 0.6 px 0.7 px
3 pixels 1.60 % 1.90 % 0.6 px 0.7 px
4 pixels 1.09 % 1.37 % 0.6 px 0.7 px
5 pixels 0.92 % 1.17 % 0.6 px 0.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.61 % 2.06 % 0.4 px 0.4 px
3 pixels 1.01 % 1.46 % 0.4 px 0.4 px
4 pixels 0.82 % 1.28 % 0.4 px 0.4 px
5 pixels 0.69 % 1.14 % 0.4 px 0.4 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.50 % 4.02 % 0.7 px 0.8 px
3 pixels 1.99 % 2.26 % 0.7 px 0.8 px
4 pixels 1.47 % 1.69 % 0.7 px 0.8 px
5 pixels 1.28 % 1.45 % 0.7 px 0.8 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.78 % 2.17 % 0.4 px 0.4 px
3 pixels 1.02 % 1.29 % 0.4 px 0.4 px
4 pixels 0.68 % 0.83 % 0.4 px 0.4 px
5 pixels 0.56 % 0.70 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.78 % 2.81 % 0.6 px 0.6 px
3 pixels 1.76 % 1.73 % 0.6 px 0.6 px
4 pixels 1.40 % 1.35 % 0.6 px 0.6 px
5 pixels 1.20 % 1.15 % 0.6 px 0.6 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.63 % 7.72 % 0.8 px 1.1 px
3 pixels 4.06 % 6.05 % 0.8 px 1.1 px
4 pixels 3.21 % 5.11 % 0.8 px 1.1 px
5 pixels 2.68 % 4.50 % 0.8 px 1.1 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.13 % 3.93 % 0.6 px 0.7 px
3 pixels 1.75 % 2.34 % 0.6 px 0.7 px
4 pixels 1.34 % 1.76 % 0.6 px 0.7 px
5 pixels 1.17 % 1.39 % 0.6 px 0.7 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.79 % 0.77 % 0.3 px 0.3 px
3 pixels 0.46 % 0.45 % 0.3 px 0.3 px
4 pixels 0.35 % 0.34 % 0.3 px 0.3 px
5 pixels 0.27 % 0.27 % 0.3 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.48 % 3.49 % 0.5 px 0.5 px
3 pixels 1.91 % 1.86 % 0.5 px 0.5 px
4 pixels 1.04 % 1.01 % 0.5 px 0.5 px
5 pixels 0.65 % 0.63 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.76 % 2.71 % 0.6 px 0.6 px
3 pixels 1.04 % 1.02 % 0.6 px 0.6 px
4 pixels 0.57 % 0.56 % 0.6 px 0.6 px
5 pixels 0.38 % 0.37 % 0.6 px 0.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.52 % 6.59 % 0.6 px 0.7 px
3 pixels 3.56 % 4.50 % 0.6 px 0.7 px
4 pixels 2.55 % 3.04 % 0.6 px 0.7 px
5 pixels 2.08 % 2.26 % 0.6 px 0.7 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.45 % 3.23 % 0.4 px 0.4 px
3 pixels 0.42 % 0.69 % 0.4 px 0.4 px
4 pixels 0.28 % 0.38 % 0.4 px 0.4 px
5 pixels 0.20 % 0.28 % 0.4 px 0.4 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.47 % 1.43 % 0.4 px 0.4 px
3 pixels 0.87 % 0.85 % 0.4 px 0.4 px
4 pixels 0.70 % 0.67 % 0.4 px 0.4 px
5 pixels 0.60 % 0.58 % 0.4 px 0.4 px
This table as LaTeX







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