Method

Accurate and Efficient Stereo Matching via Attention Concatenation Volume [Fast-ACVNet+]
https://github.com/gangweiX/Fast-ACVNet

Submitted on 8 Aug. 2024 14:00 by
Gangwei Xu (Huazhong University of Science and Technology)

Running time:0.05 s
Environment:NVIDIA RTX 3090 (PyTorch)

Method Description:
We design a fast version of ACV to enable real-
time performance, named Fast-ACV+, which generates
high likelihood disparity hypotheses and the
corresponding attention weights from correlation
clues to significantly reduce computational and
memory costs and meanwhile maintain a satisfactory
accuracy.
Parameters:
We finetune the pre-trained Scene Flow model on the
mixed KITTI 2012 and KITTI 2015 training sets for
500 epochs.
Latex Bibtex:
@article{xu2023accurate,
title={Accurate and efficient stereo matching
via attention concatenation volume},
author={Xu, Gangwei and Wang, Yun and Cheng,
Junda and Tang, Jinhui and Yang, Xin},
journal={IEEE Transactions on Pattern Analysis
and Machine Intelligence},
year={2023},
publisher={IEEE}
}

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 2.39 % 2.97 % 0.5 px 0.5 px
3 pixels 1.45 % 1.85 % 0.5 px 0.5 px
4 pixels 1.06 % 1.36 % 0.5 px 0.5 px
5 pixels 0.85 % 1.09 % 0.5 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.81 % 14.11 % 1.3 px 1.5 px
3 pixels 6.82 % 8.59 % 1.3 px 1.5 px
4 pixels 4.83 % 6.06 % 1.3 px 1.5 px
5 pixels 3.74 % 4.63 % 1.3 px 1.5 px
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Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.58 % 1.81 % 0.4 px 0.4 px
3 pixels 1.08 % 1.31 % 0.4 px 0.4 px
4 pixels 0.86 % 1.09 % 0.4 px 0.4 px
5 pixels 0.66 % 0.90 % 0.4 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.83 % 3.14 % 0.5 px 0.5 px
3 pixels 1.62 % 1.72 % 0.5 px 0.5 px
4 pixels 1.31 % 1.38 % 0.5 px 0.5 px
5 pixels 1.03 % 1.09 % 0.5 px 0.5 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.72 % 1.90 % 0.3 px 0.3 px
3 pixels 0.89 % 0.95 % 0.3 px 0.3 px
4 pixels 0.50 % 0.54 % 0.3 px 0.3 px
5 pixels 0.33 % 0.37 % 0.3 px 0.3 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.95 % 2.30 % 0.3 px 0.4 px
3 pixels 0.28 % 1.49 % 0.3 px 0.4 px
4 pixels 0.18 % 1.11 % 0.3 px 0.4 px
5 pixels 0.15 % 0.69 % 0.3 px 0.4 px
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Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.68 % 0.91 % 0.3 px 0.4 px
3 pixels 0.31 % 0.45 % 0.3 px 0.4 px
4 pixels 0.17 % 0.29 % 0.3 px 0.4 px
5 pixels 0.12 % 0.22 % 0.3 px 0.4 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.25 % 1.46 % 0.3 px 0.4 px
3 pixels 0.66 % 0.83 % 0.3 px 0.4 px
4 pixels 0.53 % 0.63 % 0.3 px 0.4 px
5 pixels 0.42 % 0.47 % 0.3 px 0.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.97 % 4.51 % 0.6 px 0.7 px
3 pixels 2.11 % 2.47 % 0.6 px 0.7 px
4 pixels 1.42 % 1.70 % 0.6 px 0.7 px
5 pixels 1.08 % 1.33 % 0.6 px 0.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.14 % 2.59 % 0.6 px 0.7 px
3 pixels 1.43 % 1.82 % 0.6 px 0.7 px
4 pixels 1.08 % 1.33 % 0.6 px 0.7 px
5 pixels 0.85 % 1.01 % 0.6 px 0.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.48 % 1.93 % 0.3 px 0.4 px
3 pixels 0.90 % 1.35 % 0.3 px 0.4 px
4 pixels 0.69 % 1.15 % 0.3 px 0.4 px
5 pixels 0.58 % 1.05 % 0.3 px 0.4 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.64 % 3.62 % 0.6 px 0.7 px
3 pixels 1.15 % 1.57 % 0.6 px 0.7 px
4 pixels 0.80 % 1.08 % 0.6 px 0.7 px
5 pixels 0.67 % 0.90 % 0.6 px 0.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.53 % 1.71 % 0.4 px 0.4 px
3 pixels 0.98 % 1.05 % 0.4 px 0.4 px
4 pixels 0.77 % 0.83 % 0.4 px 0.4 px
5 pixels 0.68 % 0.74 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.10 % 2.20 % 0.5 px 0.5 px
3 pixels 1.17 % 1.25 % 0.5 px 0.5 px
4 pixels 0.81 % 0.84 % 0.5 px 0.5 px
5 pixels 0.58 % 0.60 % 0.5 px 0.5 px
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Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.28 % 4.95 % 0.6 px 0.7 px
3 pixels 2.05 % 3.45 % 0.6 px 0.7 px
4 pixels 1.61 % 2.71 % 0.6 px 0.7 px
5 pixels 1.42 % 2.20 % 0.6 px 0.7 px
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Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.12 % 2.53 % 0.5 px 0.6 px
3 pixels 1.37 % 1.66 % 0.5 px 0.6 px
4 pixels 1.16 % 1.25 % 0.5 px 0.6 px
5 pixels 1.03 % 1.04 % 0.5 px 0.6 px
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Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.57 % 1.06 % 0.3 px 0.3 px
3 pixels 0.27 % 0.28 % 0.3 px 0.3 px
4 pixels 0.19 % 0.19 % 0.3 px 0.3 px
5 pixels 0.14 % 0.14 % 0.3 px 0.3 px
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Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.79 % 2.79 % 0.5 px 0.5 px
3 pixels 1.71 % 1.66 % 0.5 px 0.5 px
4 pixels 0.87 % 0.84 % 0.5 px 0.5 px
5 pixels 0.60 % 0.58 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.41 % 2.36 % 0.5 px 0.5 px
3 pixels 1.01 % 0.99 % 0.5 px 0.5 px
4 pixels 0.59 % 0.58 % 0.5 px 0.5 px
5 pixels 0.37 % 0.36 % 0.5 px 0.5 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.84 % 5.03 % 0.5 px 0.6 px
3 pixels 2.52 % 3.69 % 0.5 px 0.6 px
4 pixels 1.82 % 2.92 % 0.5 px 0.6 px
5 pixels 1.38 % 2.01 % 0.5 px 0.6 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.64 % 0.85 % 0.3 px 0.3 px
3 pixels 0.37 % 0.38 % 0.3 px 0.3 px
4 pixels 0.27 % 0.27 % 0.3 px 0.3 px
5 pixels 0.21 % 0.20 % 0.3 px 0.3 px
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Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.96 % 0.93 % 0.4 px 0.4 px
3 pixels 0.60 % 0.59 % 0.4 px 0.4 px
4 pixels 0.49 % 0.48 % 0.4 px 0.4 px
5 pixels 0.42 % 0.41 % 0.4 px 0.4 px
This table as LaTeX







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