Method

StereoSLIC [StereoSLIC]


Submitted on 10 Mar. 2013 17:57 by
Koichiro Yamaguchi (TTI-Chicago)

Running time:2.3 s
Environment:1 core @ 3.0 Ghz (C/C++)

Method Description:
Joint segmentation and disparity estimation. The energy is defined
as the sum of energies encoding shape, appearance, and disparity.
The inputs to our algorithm are a stereo pair of images and initial
disparity estimates. Our initial disparity estimates are computed by
semi-global matching algorithm.
Parameters:
#superpixels = 400
#iterations = 10
\lambda_pos = 3000
\lambda_disp = 100
\lambda_d = 3
Latex Bibtex:
@INPROCEEDINGS{Yamaguchi13,
author = {Koichiro Yamaguchi and David McAllester and Raquel
Urtasun},
title = {Robust Monocular Epipolar Flow Estimation},
booktitle = {CVPR},
year = {2013}
}

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 5.76 % 7.20 % 0.9 px 1.0 px
3 pixels 3.92 % 5.11 % 0.9 px 1.0 px
4 pixels 3.04 % 4.04 % 0.9 px 1.0 px
5 pixels 2.49 % 3.33 % 0.9 px 1.0 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 25.31 % 28.67 % 2.8 px 3.6 px
3 pixels 18.22 % 21.60 % 2.8 px 3.6 px
4 pixels 14.32 % 17.59 % 2.8 px 3.6 px
5 pixels 11.70 % 14.84 % 2.8 px 3.6 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.17 % 8.01 % 0.7 px 0.8 px
3 pixels 3.99 % 5.48 % 0.7 px 0.8 px
4 pixels 3.06 % 4.31 % 0.7 px 0.8 px
5 pixels 1.94 % 2.93 % 0.7 px 0.8 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.11 % 8.91 % 0.9 px 1.0 px
3 pixels 3.78 % 5.76 % 0.9 px 1.0 px
4 pixels 2.81 % 4.18 % 0.9 px 1.0 px
5 pixels 2.37 % 3.38 % 0.9 px 1.0 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.76 % 6.90 % 0.6 px 0.7 px
3 pixels 3.69 % 4.81 % 0.6 px 0.7 px
4 pixels 2.66 % 3.74 % 0.6 px 0.7 px
5 pixels 1.96 % 2.99 % 0.6 px 0.7 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.46 % 6.25 % 0.6 px 0.7 px
3 pixels 2.21 % 3.46 % 0.6 px 0.7 px
4 pixels 1.32 % 2.21 % 0.6 px 0.7 px
5 pixels 0.99 % 1.62 % 0.6 px 0.7 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.28 % 5.58 % 0.7 px 0.7 px
3 pixels 2.72 % 3.38 % 0.7 px 0.7 px
4 pixels 2.06 % 2.56 % 0.7 px 0.7 px
5 pixels 1.43 % 1.89 % 0.7 px 0.7 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.97 % 2.46 % 0.5 px 0.5 px
3 pixels 1.21 % 1.58 % 0.5 px 0.5 px
4 pixels 0.98 % 1.31 % 0.5 px 0.5 px
5 pixels 0.84 % 1.14 % 0.5 px 0.5 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.84 % 7.21 % 0.9 px 0.9 px
3 pixels 4.11 % 4.49 % 0.9 px 0.9 px
4 pixels 2.77 % 3.12 % 0.9 px 0.9 px
5 pixels 2.32 % 2.61 % 0.9 px 0.9 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.57 % 10.12 % 1.3 px 1.5 px
3 pixels 5.46 % 6.78 % 1.3 px 1.5 px
4 pixels 4.27 % 5.40 % 1.3 px 1.5 px
5 pixels 3.64 % 4.65 % 1.3 px 1.5 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.10 % 3.83 % 0.5 px 0.6 px
3 pixels 1.81 % 2.27 % 0.5 px 0.6 px
4 pixels 1.10 % 1.54 % 0.5 px 0.6 px
5 pixels 0.85 % 1.26 % 0.5 px 0.6 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.41 % 12.62 % 1.3 px 1.6 px
3 pixels 7.00 % 9.29 % 1.3 px 1.6 px
4 pixels 5.18 % 7.33 % 1.3 px 1.6 px
5 pixels 4.16 % 5.99 % 1.3 px 1.6 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.08 % 4.22 % 0.5 px 0.6 px
3 pixels 1.70 % 2.67 % 0.5 px 0.6 px
4 pixels 1.20 % 2.00 % 0.5 px 0.6 px
5 pixels 0.96 % 1.58 % 0.5 px 0.6 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.70 % 11.89 % 1.3 px 1.6 px
3 pixels 5.69 % 8.74 % 1.3 px 1.6 px
4 pixels 4.26 % 7.10 % 1.3 px 1.6 px
5 pixels 3.34 % 5.96 % 1.3 px 1.6 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.83 % 7.41 % 1.0 px 1.1 px
3 pixels 4.01 % 5.30 % 1.0 px 1.1 px
4 pixels 3.34 % 4.40 % 1.0 px 1.1 px
5 pixels 2.95 % 3.79 % 1.0 px 1.1 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.02 % 6.31 % 0.9 px 1.2 px
3 pixels 3.55 % 4.80 % 0.9 px 1.2 px
4 pixels 2.88 % 4.13 % 0.9 px 1.2 px
5 pixels 2.53 % 3.78 % 0.9 px 1.2 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.70 % 3.83 % 0.5 px 0.5 px
3 pixels 1.26 % 2.01 % 0.5 px 0.5 px
4 pixels 0.84 % 1.36 % 0.5 px 0.5 px
5 pixels 0.70 % 1.10 % 0.5 px 0.5 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.22 % 7.03 % 0.8 px 0.8 px
3 pixels 4.00 % 4.44 % 0.8 px 0.8 px
4 pixels 2.66 % 2.89 % 0.8 px 0.8 px
5 pixels 1.84 % 1.92 % 0.8 px 0.8 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.28 % 5.00 % 0.6 px 0.6 px
3 pixels 1.84 % 2.27 % 0.6 px 0.6 px
4 pixels 1.05 % 1.17 % 0.6 px 0.6 px
5 pixels 0.70 % 0.74 % 0.6 px 0.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.06 % 9.37 % 1.0 px 1.1 px
3 pixels 6.18 % 7.25 % 1.0 px 1.1 px
4 pixels 5.19 % 5.89 % 1.0 px 1.1 px
5 pixels 4.16 % 4.67 % 1.0 px 1.1 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.28 % 6.11 % 0.6 px 0.6 px
3 pixels 4.15 % 4.81 % 0.6 px 0.6 px
4 pixels 3.35 % 3.86 % 0.6 px 0.6 px
5 pixels 2.64 % 3.00 % 0.6 px 0.6 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.11 % 3.33 % 0.5 px 0.6 px
3 pixels 1.25 % 2.23 % 0.5 px 0.6 px
4 pixels 0.99 % 1.79 % 0.5 px 0.6 px
5 pixels 0.88 % 1.48 % 0.5 px 0.6 px
This table as LaTeX







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