Method

Detail-Aware Fusion Stereo Network [DAFSNet]


Submitted on 13 Jan. 2026 10:54 by
Yichao Wang (Sun Yat-Sen University)

Running time:.004 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
DAFSNet is a real-time stereo matching framework
designed for resource-constrained platforms using
a coarse-to-fine strategy. It incorporates a
Focused Detail Extractor Block (FDEB) to
selectively preserve edges and textures while
suppressing redundant background information.
Furthermore, a Hierarchical Frequency
Regularization Network (HFRN) decomposes the cost
volume into low and high frequencies for adaptive
fusion, balancing detail preservation and noise
suppression.
Parameters:
loss_weights: 0.5, 0.7, 1.0
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 2.32 % 2.87 % 0.5 px 0.5 px
3 pixels 1.54 % 1.92 % 0.5 px 0.5 px
4 pixels 1.19 % 1.48 % 0.5 px 0.5 px
5 pixels 0.97 % 1.20 % 0.5 px 0.5 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.16 % 14.41 % 1.4 px 1.5 px
3 pixels 7.47 % 9.17 % 1.4 px 1.5 px
4 pixels 5.40 % 6.66 % 1.4 px 1.5 px
5 pixels 4.26 % 5.19 % 1.4 px 1.5 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.47 % 1.65 % 0.4 px 0.4 px
3 pixels 1.03 % 1.20 % 0.4 px 0.4 px
4 pixels 0.77 % 0.93 % 0.4 px 0.4 px
5 pixels 0.64 % 0.78 % 0.4 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.44 % 2.59 % 0.4 px 0.4 px
3 pixels 1.56 % 1.59 % 0.4 px 0.4 px
4 pixels 1.23 % 1.25 % 0.4 px 0.4 px
5 pixels 1.00 % 1.02 % 0.4 px 0.4 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.10 % 1.50 % 0.3 px 0.3 px
3 pixels 0.64 % 0.84 % 0.3 px 0.3 px
4 pixels 0.44 % 0.54 % 0.3 px 0.3 px
5 pixels 0.36 % 0.42 % 0.3 px 0.3 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.53 % 0.77 % 0.3 px 0.3 px
3 pixels 0.35 % 0.46 % 0.3 px 0.3 px
4 pixels 0.26 % 0.31 % 0.3 px 0.3 px
5 pixels 0.18 % 0.21 % 0.3 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.81 % 0.92 % 0.3 px 0.4 px
3 pixels 0.45 % 0.52 % 0.3 px 0.4 px
4 pixels 0.27 % 0.34 % 0.3 px 0.4 px
5 pixels 0.17 % 0.23 % 0.3 px 0.4 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.10 % 1.22 % 0.3 px 0.3 px
3 pixels 0.73 % 0.80 % 0.3 px 0.3 px
4 pixels 0.57 % 0.59 % 0.3 px 0.3 px
5 pixels 0.47 % 0.46 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.48 % 4.38 % 0.6 px 0.6 px
3 pixels 1.79 % 2.38 % 0.6 px 0.6 px
4 pixels 1.28 % 1.60 % 0.6 px 0.6 px
5 pixels 1.08 % 1.21 % 0.6 px 0.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.20 % 3.16 % 0.6 px 0.7 px
3 pixels 1.58 % 2.36 % 0.6 px 0.7 px
4 pixels 1.36 % 2.00 % 0.6 px 0.7 px
5 pixels 1.24 % 1.75 % 0.6 px 0.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.19 % 1.61 % 0.3 px 0.3 px
3 pixels 0.80 % 1.12 % 0.3 px 0.3 px
4 pixels 0.65 % 0.88 % 0.3 px 0.3 px
5 pixels 0.56 % 0.69 % 0.3 px 0.3 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.43 % 2.78 % 0.6 px 0.7 px
3 pixels 1.44 % 1.74 % 0.6 px 0.7 px
4 pixels 1.16 % 1.43 % 0.6 px 0.7 px
5 pixels 0.96 % 1.22 % 0.6 px 0.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.35 % 1.57 % 0.4 px 0.4 px
3 pixels 0.95 % 1.16 % 0.4 px 0.4 px
4 pixels 0.74 % 0.96 % 0.4 px 0.4 px
5 pixels 0.67 % 0.87 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.82 % 2.13 % 0.5 px 0.5 px
3 pixels 1.18 % 1.21 % 0.5 px 0.5 px
4 pixels 0.97 % 0.95 % 0.5 px 0.5 px
5 pixels 0.86 % 0.84 % 0.5 px 0.5 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.64 % 5.50 % 0.6 px 0.8 px
3 pixels 2.54 % 4.30 % 0.6 px 0.8 px
4 pixels 2.05 % 3.68 % 0.6 px 0.8 px
5 pixels 1.77 % 3.29 % 0.6 px 0.8 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.08 % 2.87 % 0.5 px 0.5 px
3 pixels 1.53 % 1.98 % 0.5 px 0.5 px
4 pixels 1.27 % 1.48 % 0.5 px 0.5 px
5 pixels 1.13 % 1.19 % 0.5 px 0.5 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.31 % 0.32 % 0.2 px 0.3 px
3 pixels 0.14 % 0.13 % 0.2 px 0.3 px
4 pixels 0.10 % 0.10 % 0.2 px 0.3 px
5 pixels 0.08 % 0.08 % 0.2 px 0.3 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.82 % 2.75 % 0.5 px 0.5 px
3 pixels 1.53 % 1.49 % 0.5 px 0.5 px
4 pixels 0.82 % 0.80 % 0.5 px 0.5 px
5 pixels 0.59 % 0.57 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.72 % 1.69 % 0.4 px 0.4 px
3 pixels 0.78 % 0.76 % 0.4 px 0.4 px
4 pixels 0.50 % 0.49 % 0.4 px 0.4 px
5 pixels 0.34 % 0.33 % 0.4 px 0.4 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.92 % 3.30 % 0.5 px 0.5 px
3 pixels 1.79 % 1.98 % 0.5 px 0.5 px
4 pixels 1.33 % 1.49 % 0.5 px 0.5 px
5 pixels 1.13 % 1.28 % 0.5 px 0.5 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.58 % 0.72 % 0.3 px 0.3 px
3 pixels 0.41 % 0.42 % 0.3 px 0.3 px
4 pixels 0.32 % 0.32 % 0.3 px 0.3 px
5 pixels 0.27 % 0.26 % 0.3 px 0.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.82 % 0.80 % 0.3 px 0.3 px
3 pixels 0.62 % 0.61 % 0.3 px 0.3 px
4 pixels 0.52 % 0.51 % 0.3 px 0.3 px
5 pixels 0.47 % 0.46 % 0.3 px 0.3 px
This table as LaTeX







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