Method

Variational Iterative Stereo: Posterior-Guided Lookup with Calibrated Uncertainty [vis-stereo]
[Anonymous Submission]

Submitted on 13 Jun. 2026 05:12 by
[Anonymous Submission]

Running time:0.48 s
Environment:GPU @ 2.5 Ghz (Python)

Method Description:
VIS-Stereo is an iterative stereo matching method
built on the IGEV++ backbone. At each refinement
step it keeps a Gaussian posterior over disparity
instead of a single estimate, and reads the cost
volume through a window whose width is set by the
predicted variance, so the lookup gathers more
context in ambiguous regions and stays sharp
elsewhere. The variance is propagated across
iterations and tightens as evidence accumulates,
with a closed-form KL term keeping its trajectory
stable. It is supervised against the running
disparity error, so the same variance also
provides a per-pixel uncertainty that tracks the
actual error. The feature extractor, cost volume,
and GRU update block are unchanged from IGEV++,
and the added heads increase the parameter count
by 0.6%; inference runs in PyTorch on a single
NVIDIA RTX 4090.
Parameters:
16 GRU update iterations at inference; cost-volume
lookup radius R = 4. Loss weights: variance term
λ_σ = 0.1, KL continuity term β_KL = 0.05.
Trained with AdamW and a one-cycle schedule (peak
learning rate 2×10⁻⁴). Backbone settings follow
IGEV++.
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 1.58 % 2.04 % 0.4 px 0.4 px
3 pixels 1.05 % 1.37 % 0.4 px 0.4 px
4 pixels 0.82 % 1.08 % 0.4 px 0.4 px
5 pixels 0.68 % 0.90 % 0.4 px 0.4 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.65 % 7.73 % 0.9 px 0.9 px
3 pixels 3.68 % 4.32 % 0.9 px 0.9 px
4 pixels 2.42 % 2.81 % 0.9 px 0.9 px
5 pixels 1.79 % 2.05 % 0.9 px 0.9 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.11 % 1.33 % 0.3 px 0.3 px
3 pixels 0.83 % 1.06 % 0.3 px 0.3 px
4 pixels 0.65 % 0.89 % 0.3 px 0.3 px
5 pixels 0.55 % 0.78 % 0.3 px 0.3 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.46 % 3.50 % 0.4 px 0.6 px
3 pixels 1.66 % 2.68 % 0.4 px 0.6 px
4 pixels 1.26 % 2.27 % 0.4 px 0.6 px
5 pixels 1.06 % 2.05 % 0.4 px 0.6 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.54 % 0.59 % 0.2 px 0.2 px
3 pixels 0.39 % 0.44 % 0.2 px 0.2 px
4 pixels 0.31 % 0.36 % 0.2 px 0.2 px
5 pixels 0.26 % 0.31 % 0.2 px 0.2 px
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Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.40 % 0.82 % 0.2 px 0.3 px
3 pixels 0.15 % 0.18 % 0.2 px 0.3 px
4 pixels 0.14 % 0.15 % 0.2 px 0.3 px
5 pixels 0.13 % 0.14 % 0.2 px 0.3 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.30 % 0.61 % 0.3 px 0.3 px
3 pixels 0.19 % 0.42 % 0.3 px 0.3 px
4 pixels 0.16 % 0.33 % 0.3 px 0.3 px
5 pixels 0.14 % 0.26 % 0.3 px 0.3 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.55 % 0.65 % 0.3 px 0.3 px
3 pixels 0.38 % 0.39 % 0.3 px 0.3 px
4 pixels 0.29 % 0.30 % 0.3 px 0.3 px
5 pixels 0.26 % 0.26 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.42 % 3.72 % 0.5 px 0.6 px
3 pixels 1.75 % 2.00 % 0.5 px 0.6 px
4 pixels 1.20 % 1.37 % 0.5 px 0.6 px
5 pixels 1.00 % 1.11 % 0.5 px 0.6 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.30 % 1.50 % 0.5 px 0.5 px
3 pixels 0.98 % 1.13 % 0.5 px 0.5 px
4 pixels 0.81 % 0.93 % 0.5 px 0.5 px
5 pixels 0.73 % 0.83 % 0.5 px 0.5 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.91 % 1.37 % 0.3 px 0.3 px
3 pixels 0.62 % 0.86 % 0.3 px 0.3 px
4 pixels 0.49 % 0.59 % 0.3 px 0.3 px
5 pixels 0.45 % 0.49 % 0.3 px 0.3 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.94 % 2.12 % 0.4 px 0.6 px
3 pixels 0.63 % 1.07 % 0.4 px 0.6 px
4 pixels 0.51 % 0.71 % 0.4 px 0.6 px
5 pixels 0.46 % 0.64 % 0.4 px 0.6 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.96 % 1.14 % 0.3 px 0.3 px
3 pixels 0.57 % 0.59 % 0.3 px 0.3 px
4 pixels 0.39 % 0.41 % 0.3 px 0.3 px
5 pixels 0.33 % 0.34 % 0.3 px 0.3 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.24 % 1.20 % 0.4 px 0.4 px
3 pixels 0.60 % 0.57 % 0.4 px 0.4 px
4 pixels 0.42 % 0.41 % 0.4 px 0.4 px
5 pixels 0.32 % 0.31 % 0.4 px 0.4 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.15 % 4.16 % 0.5 px 0.7 px
3 pixels 1.60 % 3.49 % 0.5 px 0.7 px
4 pixels 1.41 % 3.18 % 0.5 px 0.7 px
5 pixels 1.26 % 2.88 % 0.5 px 0.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.16 % 1.24 % 0.4 px 0.5 px
3 pixels 0.89 % 0.89 % 0.4 px 0.5 px
4 pixels 0.79 % 0.79 % 0.4 px 0.5 px
5 pixels 0.76 % 0.76 % 0.4 px 0.5 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.34 % 0.33 % 0.2 px 0.2 px
3 pixels 0.25 % 0.25 % 0.2 px 0.2 px
4 pixels 0.13 % 0.13 % 0.2 px 0.2 px
5 pixels 0.11 % 0.10 % 0.2 px 0.2 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.34 % 2.32 % 0.4 px 0.4 px
3 pixels 1.42 % 1.40 % 0.4 px 0.4 px
4 pixels 0.75 % 0.75 % 0.4 px 0.4 px
5 pixels 0.36 % 0.37 % 0.4 px 0.4 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.89 % 1.89 % 0.4 px 0.4 px
3 pixels 0.78 % 0.77 % 0.4 px 0.4 px
4 pixels 0.49 % 0.48 % 0.4 px 0.4 px
5 pixels 0.38 % 0.37 % 0.4 px 0.4 px
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Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.33 % 3.82 % 0.5 px 0.5 px
3 pixels 2.15 % 2.29 % 0.5 px 0.5 px
4 pixels 1.66 % 1.76 % 0.5 px 0.5 px
5 pixels 1.45 % 1.55 % 0.5 px 0.5 px
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Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.34 % 0.38 % 0.2 px 0.2 px
3 pixels 0.21 % 0.22 % 0.2 px 0.2 px
4 pixels 0.17 % 0.18 % 0.2 px 0.2 px
5 pixels 0.13 % 0.13 % 0.2 px 0.2 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.94 % 0.91 % 0.4 px 0.4 px
3 pixels 0.70 % 0.68 % 0.4 px 0.4 px
4 pixels 0.57 % 0.55 % 0.4 px 0.4 px
5 pixels 0.51 % 0.49 % 0.4 px 0.4 px
This table as LaTeX







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