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Method

CSP [MS] [CSP]
[Anonymous Submission]

Submitted on 3 Oct. 2026 13:00 by
[Anonymous Submission]

Running time:0.41 s
Environment:1 core @ 2.5 Ghz (Python)

Method Description:
CSP (Cost-Space Proximal): algorithm-unrolling stereo that iteratively refines a learned cost volume. ResNet encoder + 3-scale correlation volume, refined at full resolution for T=5 iterations of a learned gradient-style update and proximal-style refinement with per-iteration step sizes; soft-argmin readout. 13.5M params. Pre-trained on SceneFlow, fine-tuned on KITTI 2012+2015 train. Inference: D=192, 32 px left replicate padding. Post-processing: pixels whose match falls outside the right image (x
Parameters:
T=5, D=192, N_pad=32 (left edge, replicate, both images) + Fill
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 3.99 % 5.25 % 0.7 px 0.9 px
3 pixels 2.47 % 3.53 % 0.7 px 0.9 px
4 pixels 1.83 % 2.76 % 0.7 px 0.9 px
5 pixels 1.47 % 2.30 % 0.7 px 0.9 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 18.15 % 21.49 % 2.1 px 2.8 px
3 pixels 11.92 % 15.20 % 2.1 px 2.8 px
4 pixels 9.13 % 12.26 % 2.1 px 2.8 px
5 pixels 7.51 % 10.51 % 2.1 px 2.8 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.52 % 5.11 % 0.6 px 0.8 px
3 pixels 2.12 % 3.38 % 0.6 px 0.8 px
4 pixels 1.71 % 2.89 % 0.6 px 0.8 px
5 pixels 1.44 % 2.52 % 0.6 px 0.8 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.30 % 7.90 % 0.7 px 0.9 px
3 pixels 2.54 % 5.91 % 0.7 px 0.9 px
4 pixels 1.82 % 4.80 % 0.7 px 0.9 px
5 pixels 1.38 % 3.88 % 0.7 px 0.9 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.06 % 2.70 % 0.4 px 0.4 px
3 pixels 1.08 % 1.46 % 0.4 px 0.4 px
4 pixels 0.49 % 0.76 % 0.4 px 0.4 px
5 pixels 0.32 % 0.50 % 0.4 px 0.4 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.26 % 4.36 % 0.4 px 0.6 px
3 pixels 0.91 % 2.50 % 0.4 px 0.6 px
4 pixels 0.43 % 1.57 % 0.4 px 0.6 px
5 pixels 0.29 % 1.13 % 0.4 px 0.6 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.89 % 2.36 % 0.5 px 0.5 px
3 pixels 0.99 % 1.17 % 0.5 px 0.5 px
4 pixels 0.73 % 0.88 % 0.5 px 0.5 px
5 pixels 0.57 % 0.69 % 0.5 px 0.5 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.66 % 1.79 % 0.4 px 0.4 px
3 pixels 1.17 % 1.24 % 0.4 px 0.4 px
4 pixels 0.80 % 0.83 % 0.4 px 0.4 px
5 pixels 0.54 % 0.55 % 0.4 px 0.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.61 % 9.26 % 0.8 px 1.4 px
3 pixels 3.36 % 6.09 % 0.8 px 1.4 px
4 pixels 2.16 % 4.92 % 0.8 px 1.4 px
5 pixels 1.74 % 4.48 % 0.8 px 1.4 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.66 % 5.81 % 0.7 px 1.0 px
3 pixels 1.91 % 3.76 % 0.7 px 1.0 px
4 pixels 1.30 % 2.81 % 0.7 px 1.0 px
5 pixels 1.04 % 2.30 % 0.7 px 1.0 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.82 % 2.40 % 0.5 px 0.5 px
3 pixels 1.00 % 1.47 % 0.5 px 0.5 px
4 pixels 0.72 % 1.14 % 0.5 px 0.5 px
5 pixels 0.55 % 0.92 % 0.5 px 0.5 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.44 % 4.84 % 0.7 px 0.9 px
3 pixels 1.99 % 3.04 % 0.7 px 0.9 px
4 pixels 1.45 % 2.25 % 0.7 px 0.9 px
5 pixels 1.08 % 1.72 % 0.7 px 0.9 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.98 % 3.09 % 0.5 px 0.6 px
3 pixels 1.19 % 2.02 % 0.5 px 0.6 px
4 pixels 0.91 % 1.52 % 0.5 px 0.6 px
5 pixels 0.78 % 1.14 % 0.5 px 0.6 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.11 % 6.03 % 0.7 px 0.8 px
3 pixels 1.70 % 4.12 % 0.7 px 0.8 px
4 pixels 1.28 % 3.17 % 0.7 px 0.8 px
5 pixels 1.08 % 2.45 % 0.7 px 0.8 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.42 % 7.71 % 0.9 px 1.6 px
3 pixels 3.38 % 5.65 % 0.9 px 1.6 px
4 pixels 2.44 % 4.66 % 0.9 px 1.6 px
5 pixels 2.16 % 4.28 % 0.9 px 1.6 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.23 % 4.99 % 0.7 px 0.8 px
3 pixels 2.76 % 3.39 % 0.7 px 0.8 px
4 pixels 2.38 % 2.94 % 0.7 px 0.8 px
5 pixels 2.13 % 2.61 % 0.7 px 0.8 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.38 % 2.45 % 0.4 px 0.5 px
3 pixels 1.01 % 0.99 % 0.4 px 0.5 px
4 pixels 0.49 % 0.48 % 0.4 px 0.5 px
5 pixels 0.25 % 0.24 % 0.4 px 0.5 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.77 % 4.48 % 0.6 px 0.6 px
3 pixels 2.06 % 2.24 % 0.6 px 0.6 px
4 pixels 1.26 % 1.28 % 0.6 px 0.6 px
5 pixels 0.73 % 0.71 % 0.6 px 0.6 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.55 % 3.56 % 0.7 px 0.7 px
3 pixels 1.40 % 1.44 % 0.7 px 0.7 px
4 pixels 0.79 % 0.83 % 0.7 px 0.7 px
5 pixels 0.56 % 0.60 % 0.7 px 0.7 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.03 % 6.87 % 0.7 px 0.8 px
3 pixels 4.19 % 4.86 % 0.7 px 0.8 px
4 pixels 3.15 % 3.71 % 0.7 px 0.8 px
5 pixels 2.55 % 2.99 % 0.7 px 0.8 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.82 % 0.99 % 0.4 px 0.4 px
3 pixels 0.58 % 0.70 % 0.4 px 0.4 px
4 pixels 0.43 % 0.54 % 0.4 px 0.4 px
5 pixels 0.35 % 0.45 % 0.4 px 0.4 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.58 % 1.66 % 0.5 px 0.5 px
3 pixels 0.87 % 0.85 % 0.5 px 0.5 px
4 pixels 0.61 % 0.60 % 0.5 px 0.5 px
5 pixels 0.50 % 0.49 % 0.5 px 0.5 px
This table as LaTeX







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