Method

Lightweight Cross-modal Feature Fusion Stereo [LXF-Stereo]


Submitted on 22 Aug. 2025 08:55 by
yang jie (ysu)

Running time:50 ms
Environment:GPU @ 2.0 Ghz (Python)

Method Description:
We propose a lightweight cross-modal feature
fusion module (LXF). The module combines deep
separable convolution and spatial-channel dual
attention mechanism to efficiently integrate
multi-layer features in the cost aggregation
stage, and innovatively extends the semantic
features of 2D images to 3D space, and interacts
with the original cost body and the splicing cost
body in the third order, which significantly
enhances the correlation of cross-modal features.
Parameters:
we employed the AdamW[31]
optimizer with parameters 𝛽1 = 0.9 and 𝛽2 = 0.999.
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 2.25 % 2.78 % 0.5 px 0.5 px
3 pixels 1.42 % 1.77 % 0.5 px 0.5 px
4 pixels 1.07 % 1.35 % 0.5 px 0.5 px
5 pixels 0.88 % 1.12 % 0.5 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.74 % 11.83 % 1.3 px 1.4 px
3 pixels 5.52 % 7.19 % 1.3 px 1.4 px
4 pixels 3.90 % 5.17 % 1.3 px 1.4 px
5 pixels 2.99 % 3.97 % 1.3 px 1.4 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.81 % 2.02 % 0.4 px 0.4 px
3 pixels 1.23 % 1.46 % 0.4 px 0.4 px
4 pixels 1.04 % 1.27 % 0.4 px 0.4 px
5 pixels 0.91 % 1.14 % 0.4 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.74 % 3.17 % 0.5 px 0.5 px
3 pixels 1.69 % 1.91 % 0.5 px 0.5 px
4 pixels 1.38 % 1.44 % 0.5 px 0.5 px
5 pixels 1.16 % 1.20 % 0.5 px 0.5 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.55 % 1.87 % 0.3 px 0.4 px
3 pixels 0.83 % 0.89 % 0.3 px 0.4 px
4 pixels 0.56 % 0.60 % 0.3 px 0.4 px
5 pixels 0.49 % 0.53 % 0.3 px 0.4 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.62 % 1.86 % 0.3 px 0.3 px
3 pixels 0.23 % 1.27 % 0.3 px 0.3 px
4 pixels 0.17 % 0.95 % 0.3 px 0.3 px
5 pixels 0.15 % 0.59 % 0.3 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.43 % 2.51 % 0.4 px 0.4 px
3 pixels 1.38 % 1.42 % 0.4 px 0.4 px
4 pixels 0.31 % 0.36 % 0.4 px 0.4 px
5 pixels 0.19 % 0.25 % 0.4 px 0.4 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.05 % 1.38 % 0.3 px 0.3 px
3 pixels 0.80 % 1.07 % 0.3 px 0.3 px
4 pixels 0.64 % 0.85 % 0.3 px 0.3 px
5 pixels 0.51 % 0.66 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.27 % 5.01 % 0.6 px 0.7 px
3 pixels 2.39 % 2.83 % 0.6 px 0.7 px
4 pixels 1.54 % 1.95 % 0.6 px 0.7 px
5 pixels 1.15 % 1.53 % 0.6 px 0.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.75 % 3.20 % 0.6 px 0.7 px
3 pixels 1.47 % 1.81 % 0.6 px 0.7 px
4 pixels 1.16 % 1.45 % 0.6 px 0.7 px
5 pixels 1.02 % 1.28 % 0.6 px 0.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.28 % 1.73 % 0.3 px 0.4 px
3 pixels 0.84 % 1.25 % 0.3 px 0.4 px
4 pixels 0.68 % 1.07 % 0.3 px 0.4 px
5 pixels 0.59 % 0.91 % 0.3 px 0.4 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.47 % 2.34 % 0.5 px 0.7 px
3 pixels 0.94 % 1.24 % 0.5 px 0.7 px
4 pixels 0.73 % 0.94 % 0.5 px 0.7 px
5 pixels 0.63 % 0.82 % 0.5 px 0.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.49 % 1.66 % 0.4 px 0.4 px
3 pixels 1.00 % 1.03 % 0.4 px 0.4 px
4 pixels 0.71 % 0.74 % 0.4 px 0.4 px
5 pixels 0.57 % 0.60 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.75 % 2.31 % 0.6 px 0.6 px
3 pixels 1.11 % 1.32 % 0.6 px 0.6 px
4 pixels 0.83 % 0.98 % 0.6 px 0.6 px
5 pixels 0.70 % 0.74 % 0.6 px 0.6 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.25 % 5.14 % 0.6 px 0.7 px
3 pixels 2.26 % 3.85 % 0.6 px 0.7 px
4 pixels 1.74 % 2.98 % 0.6 px 0.7 px
5 pixels 1.52 % 2.45 % 0.6 px 0.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.92 % 1.96 % 0.5 px 0.5 px
3 pixels 1.21 % 1.21 % 0.5 px 0.5 px
4 pixels 1.02 % 1.02 % 0.5 px 0.5 px
5 pixels 0.90 % 0.90 % 0.5 px 0.5 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.50 % 0.51 % 0.3 px 0.3 px
3 pixels 0.26 % 0.25 % 0.3 px 0.3 px
4 pixels 0.18 % 0.18 % 0.3 px 0.3 px
5 pixels 0.14 % 0.14 % 0.3 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.34 % 2.30 % 0.5 px 0.5 px
3 pixels 1.51 % 1.47 % 0.5 px 0.5 px
4 pixels 0.94 % 0.91 % 0.5 px 0.5 px
5 pixels 0.62 % 0.60 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.19 % 2.15 % 0.5 px 0.5 px
3 pixels 1.02 % 1.00 % 0.5 px 0.5 px
4 pixels 0.64 % 0.63 % 0.5 px 0.5 px
5 pixels 0.48 % 0.47 % 0.5 px 0.5 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.31 % 5.27 % 0.5 px 0.6 px
3 pixels 2.81 % 3.50 % 0.5 px 0.6 px
4 pixels 1.84 % 2.23 % 0.5 px 0.6 px
5 pixels 1.31 % 1.42 % 0.5 px 0.6 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.73 % 1.15 % 0.3 px 0.3 px
3 pixels 0.38 % 0.38 % 0.3 px 0.3 px
4 pixels 0.31 % 0.30 % 0.3 px 0.3 px
5 pixels 0.24 % 0.24 % 0.3 px 0.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.05 % 1.02 % 0.4 px 0.4 px
3 pixels 0.75 % 0.72 % 0.4 px 0.4 px
4 pixels 0.61 % 0.59 % 0.4 px 0.4 px
5 pixels 0.54 % 0.52 % 0.4 px 0.4 px
This table as LaTeX







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