Method

Real-time Stereo Matching with a Hierarchical Refinement [MBFnet]
[Anonymous Submission]

Submitted on 30 Oct. 2019 08:18 by
[Anonymous Submission]

Running time:0.05 s
Environment:GPU @ GTX 2070 (Pytorch)

Method Description:
A real-time stereo matching with a coarse-to-fine fashion is proposed, which initializes the disparity map at the low-resolution level and gradually restores the spatial resolution of the disparity map. The algorithm uses a lightweight backbone network to extract multi-scale features, and at the same time the features are inversely fused to improve the robustness of the features while ensuring the real-time performance. A multi-branch fusion module is proposed to progressively refine the disparity map. The multi-modes of different regions are automatically clustered and processed separately, and then the final result is combined according to the cluster weights, so that the regions with different characteristic can be better processed.
Parameters:
\Scale=0.5,\Branch=5
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 3.54 % 4.82 % 0.7 px 0.8 px
3 pixels 2.28 % 3.27 % 0.7 px 0.8 px
4 pixels 1.73 % 2.52 % 0.7 px 0.8 px
5 pixels 1.43 % 2.06 % 0.7 px 0.8 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.99 % 18.01 % 1.5 px 1.7 px
3 pixels 9.21 % 11.83 % 1.5 px 1.7 px
4 pixels 6.41 % 8.59 % 1.5 px 1.7 px
5 pixels 4.92 % 6.73 % 1.5 px 1.7 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.97 % 4.46 % 0.5 px 0.6 px
3 pixels 1.79 % 2.77 % 0.5 px 0.6 px
4 pixels 1.25 % 1.93 % 0.5 px 0.6 px
5 pixels 0.99 % 1.45 % 0.5 px 0.6 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.79 % 4.70 % 0.7 px 0.7 px
3 pixels 2.49 % 3.00 % 0.7 px 0.7 px
4 pixels 1.98 % 2.23 % 0.7 px 0.7 px
5 pixels 1.67 % 1.79 % 0.7 px 0.7 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.35 % 4.49 % 0.5 px 0.6 px
3 pixels 1.89 % 2.94 % 0.5 px 0.6 px
4 pixels 1.12 % 2.05 % 0.5 px 0.6 px
5 pixels 0.79 % 1.59 % 0.5 px 0.6 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.97 % 3.89 % 0.4 px 0.5 px
3 pixels 0.72 % 2.22 % 0.4 px 0.5 px
4 pixels 0.47 % 1.88 % 0.4 px 0.5 px
5 pixels 0.33 % 1.65 % 0.4 px 0.5 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.60 % 3.03 % 0.5 px 0.6 px
3 pixels 1.14 % 2.43 % 0.5 px 0.6 px
4 pixels 0.76 % 1.90 % 0.5 px 0.6 px
5 pixels 0.51 % 1.38 % 0.5 px 0.6 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.30 % 3.07 % 0.6 px 0.6 px
3 pixels 1.60 % 2.14 % 0.6 px 0.6 px
4 pixels 1.32 % 1.70 % 0.6 px 0.6 px
5 pixels 1.21 % 1.49 % 0.6 px 0.6 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.12 % 8.25 % 0.8 px 0.9 px
3 pixels 4.54 % 5.50 % 0.8 px 0.9 px
4 pixels 3.24 % 4.07 % 0.8 px 0.9 px
5 pixels 2.66 % 3.38 % 0.8 px 0.9 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.47 % 4.30 % 0.8 px 0.9 px
3 pixels 1.84 % 2.48 % 0.8 px 0.9 px
4 pixels 1.37 % 1.75 % 0.8 px 0.9 px
5 pixels 1.20 % 1.49 % 0.8 px 0.9 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.35 % 3.00 % 0.6 px 0.6 px
3 pixels 1.42 % 1.92 % 0.6 px 0.6 px
4 pixels 1.20 % 1.60 % 0.6 px 0.6 px
5 pixels 1.07 % 1.34 % 0.6 px 0.6 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.51 % 4.49 % 0.7 px 0.9 px
3 pixels 2.12 % 2.79 % 0.7 px 0.9 px
4 pixels 1.59 % 2.09 % 0.7 px 0.9 px
5 pixels 1.38 % 1.83 % 0.7 px 0.9 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.04 % 2.67 % 0.6 px 0.6 px
3 pixels 1.43 % 1.85 % 0.6 px 0.6 px
4 pixels 1.17 % 1.52 % 0.6 px 0.6 px
5 pixels 1.04 % 1.35 % 0.6 px 0.6 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.94 % 6.12 % 0.8 px 0.9 px
3 pixels 2.56 % 4.39 % 0.8 px 0.9 px
4 pixels 1.95 % 3.50 % 0.8 px 0.9 px
5 pixels 1.49 % 2.81 % 0.8 px 0.9 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.58 % 6.71 % 0.8 px 1.0 px
3 pixels 3.32 % 5.33 % 0.8 px 1.0 px
4 pixels 2.59 % 4.49 % 0.8 px 1.0 px
5 pixels 2.24 % 3.95 % 0.8 px 1.0 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.57 % 5.66 % 0.8 px 0.8 px
3 pixels 3.32 % 4.13 % 0.8 px 0.8 px
4 pixels 2.87 % 3.38 % 0.8 px 0.8 px
5 pixels 2.61 % 2.91 % 0.8 px 0.8 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.50 % 1.65 % 0.3 px 0.4 px
3 pixels 0.31 % 0.86 % 0.3 px 0.4 px
4 pixels 0.21 % 0.56 % 0.3 px 0.4 px
5 pixels 0.18 % 0.46 % 0.3 px 0.4 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.73 % 4.26 % 0.7 px 0.8 px
3 pixels 2.14 % 2.45 % 0.7 px 0.8 px
4 pixels 1.15 % 1.42 % 0.7 px 0.8 px
5 pixels 0.82 % 1.08 % 0.7 px 0.8 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.38 % 2.53 % 0.5 px 0.6 px
3 pixels 1.06 % 1.17 % 0.5 px 0.6 px
4 pixels 0.69 % 0.76 % 0.5 px 0.6 px
5 pixels 0.48 % 0.54 % 0.5 px 0.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.15 % 6.16 % 0.8 px 0.9 px
3 pixels 3.34 % 4.06 % 0.8 px 0.9 px
4 pixels 2.41 % 2.94 % 0.8 px 0.9 px
5 pixels 1.86 % 2.29 % 0.8 px 0.9 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.26 % 3.13 % 0.4 px 0.5 px
3 pixels 0.68 % 1.37 % 0.4 px 0.5 px
4 pixels 0.45 % 0.71 % 0.4 px 0.5 px
5 pixels 0.36 % 0.58 % 0.4 px 0.5 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.50 % 2.43 % 0.4 px 0.5 px
3 pixels 0.86 % 1.47 % 0.4 px 0.5 px
4 pixels 0.60 % 1.01 % 0.4 px 0.5 px
5 pixels 0.49 % 0.83 % 0.4 px 0.5 px
This table as LaTeX







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