Method

Leveraging Semantics for End-to-End Learning of Disparity Estimation from Stereo Imagery [DispSegNet]


Submitted on 5 Sep. 2018 04:01 by
Junming Zhang (university of michigan)

Running time:0.9 s
Environment:GPU @ 2.5 Ghz (Python)

Method Description:
Leveraging Semantics for End-to-End Learning of
Disparity Estimation from Stereo Imagery. No
ground-truth disparity map is needed during the
training.
Parameters:
Latex Bibtex:
@ARTICLE{dissegnet,
author={J. {Zhang} and K. A. {Skinner} and R.
{Vasudevan} and M. {Johnson-Roberson}},
journal={IEEE Robotics and Automation Letters},
title={DispSegNet: Leveraging Semantics for End-
to-End Learning of Disparity Estimation From
Stereo Imagery},
year={2019},
volume={4},
number={2},
pages={1162-1169},
keywords={Estimation;Semantics;Task
analysis;Image segmentation;Feature
extraction;Three-dimensional
displays;Convolution;Computer vision for
transportation;deep learning in robotics and
automation},
doi={10.1109/LRA.2019.2894913},
ISSN={2377-3766},
month={April},}

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 7.05 % 8.28 % 0.9 px 1.0 px
3 pixels 4.68 % 5.66 % 0.9 px 1.0 px
4 pixels 3.49 % 4.29 % 0.9 px 1.0 px
5 pixels 2.76 % 3.43 % 0.9 px 1.0 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 32.92 % 35.84 % 3.7 px 4.2 px
3 pixels 25.00 % 27.94 % 3.7 px 4.2 px
4 pixels 20.15 % 22.96 % 3.7 px 4.2 px
5 pixels 16.79 % 19.47 % 3.7 px 4.2 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.06 % 9.58 % 0.9 px 0.9 px
3 pixels 6.25 % 7.41 % 0.9 px 0.9 px
4 pixels 4.89 % 5.63 % 0.9 px 0.9 px
5 pixels 3.79 % 4.18 % 0.9 px 0.9 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.62 % 8.23 % 0.8 px 0.9 px
3 pixels 3.64 % 5.55 % 0.8 px 0.9 px
4 pixels 2.81 % 4.07 % 0.8 px 0.9 px
5 pixels 2.38 % 2.99 % 0.8 px 0.9 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.16 % 8.95 % 0.7 px 0.7 px
3 pixels 4.50 % 4.74 % 0.7 px 0.7 px
4 pixels 2.73 % 2.79 % 0.7 px 0.7 px
5 pixels 1.69 % 1.72 % 0.7 px 0.7 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.92 % 7.93 % 0.6 px 0.8 px
3 pixels 3.24 % 4.84 % 0.6 px 0.8 px
4 pixels 2.00 % 3.06 % 0.6 px 0.8 px
5 pixels 1.29 % 2.17 % 0.6 px 0.8 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.71 % 6.33 % 0.7 px 0.7 px
3 pixels 3.53 % 3.60 % 0.7 px 0.7 px
4 pixels 2.14 % 2.22 % 0.7 px 0.7 px
5 pixels 1.23 % 1.33 % 0.7 px 0.7 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.01 % 3.17 % 0.6 px 0.6 px
3 pixels 1.60 % 1.63 % 0.6 px 0.6 px
4 pixels 1.24 % 1.25 % 0.6 px 0.6 px
5 pixels 1.06 % 1.07 % 0.6 px 0.6 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.04 % 11.14 % 1.1 px 1.2 px
3 pixels 6.94 % 7.94 % 1.1 px 1.2 px
4 pixels 5.55 % 6.33 % 1.1 px 1.2 px
5 pixels 4.59 % 5.13 % 1.1 px 1.2 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.58 % 11.67 % 1.1 px 1.3 px
3 pixels 5.67 % 7.64 % 1.1 px 1.3 px
4 pixels 4.15 % 5.88 % 1.1 px 1.3 px
5 pixels 3.23 % 4.67 % 1.1 px 1.3 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.51 % 2.96 % 0.5 px 0.5 px
3 pixels 1.44 % 1.89 % 0.5 px 0.5 px
4 pixels 1.06 % 1.52 % 0.5 px 0.5 px
5 pixels 0.89 % 1.32 % 0.5 px 0.5 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.47 % 15.34 % 1.3 px 1.6 px
3 pixels 8.78 % 10.64 % 1.3 px 1.6 px
4 pixels 6.34 % 8.10 % 1.3 px 1.6 px
5 pixels 4.82 % 6.42 % 1.3 px 1.6 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.01 % 5.05 % 0.6 px 0.6 px
3 pixels 2.19 % 3.05 % 0.6 px 0.6 px
4 pixels 1.35 % 2.04 % 0.6 px 0.6 px
5 pixels 0.95 % 1.50 % 0.6 px 0.6 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.50 % 14.90 % 1.4 px 1.5 px
3 pixels 7.65 % 9.64 % 1.4 px 1.5 px
4 pixels 5.72 % 7.22 % 1.4 px 1.5 px
5 pixels 4.53 % 5.63 % 1.4 px 1.5 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.48 % 9.63 % 1.3 px 1.5 px
3 pixels 5.91 % 7.75 % 1.3 px 1.5 px
4 pixels 4.98 % 6.57 % 1.3 px 1.5 px
5 pixels 4.52 % 5.93 % 1.3 px 1.5 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.05 % 9.30 % 1.1 px 1.3 px
3 pixels 5.78 % 7.03 % 1.1 px 1.3 px
4 pixels 4.69 % 5.84 % 1.1 px 1.3 px
5 pixels 3.86 % 4.90 % 1.1 px 1.3 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.59 % 9.21 % 0.8 px 0.8 px
3 pixels 5.28 % 5.48 % 0.8 px 0.8 px
4 pixels 3.22 % 3.26 % 0.8 px 0.8 px
5 pixels 2.16 % 2.15 % 0.8 px 0.8 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.47 % 6.67 % 0.7 px 0.7 px
3 pixels 4.04 % 4.02 % 0.7 px 0.7 px
4 pixels 2.54 % 2.47 % 0.7 px 0.7 px
5 pixels 1.75 % 1.70 % 0.7 px 0.7 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.23 % 3.25 % 0.5 px 0.5 px
3 pixels 1.49 % 1.47 % 0.5 px 0.5 px
4 pixels 0.83 % 0.82 % 0.5 px 0.5 px
5 pixels 0.48 % 0.48 % 0.5 px 0.5 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.40 % 9.15 % 1.0 px 1.1 px
3 pixels 6.31 % 6.82 % 1.0 px 1.1 px
4 pixels 5.04 % 5.33 % 1.0 px 1.1 px
5 pixels 4.20 % 4.37 % 1.0 px 1.1 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.26 % 9.02 % 0.7 px 0.8 px
3 pixels 6.83 % 7.50 % 0.7 px 0.8 px
4 pixels 5.53 % 6.04 % 0.7 px 0.8 px
5 pixels 4.36 % 4.78 % 0.7 px 0.8 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.66 % 4.17 % 0.6 px 0.6 px
3 pixels 2.10 % 2.19 % 0.6 px 0.6 px
4 pixels 1.27 % 1.25 % 0.6 px 0.6 px
5 pixels 0.96 % 0.93 % 0.6 px 0.6 px
This table as LaTeX







eXTReMe Tracker