Method

An Improved Stereo Matching Algorithm with Ground Plane and Temporal Smoothness Constraints [SM_GPTM]


Submitted on 18 Nov. 2012 11:21 by
cevahir cigla (Aselsan)

Running time:6.5 s
Environment:2 cores @ 2.5 Ghz (C/C++)

Method Description:
In this algorithm, one of the most efficient local stereo matching techniques, namely permeability filter (PF), is modified in terms of road plane geometry and temporal consistency in order to take the major challenges of such a scenario into account. The cost values for each disparity candidate are filtered via computationally efficient two pass integration approach providing weighted and connected support regions. The main motivation behind PF is to calculate the output as a result of infinite impulse response (IIR) type filter in a recursive manner. For this purpose, successive weighted summations are conducted among horizontal and vertical axes that yield adaptive 2D aggregation.
Parameters:
sigma = 16
alpha = 0.2
T = 20
lambda = 0.9
Latex Bibtex:
@inproceedings{DBLP:conf/eccv/CiglaA12,
author = {Cevahir Cigla and
A. Aydin Alatan},
title = {An Improved Stereo Matching Algorithm with Ground Plane
and Temporal Smoothness Constraints},
booktitle = {ECCV Workshops},
year = {2012},
pages = {134-147},
ee = {http://dx.doi.org/10.1007/978-3-642-33868-7_14},
crossref = {DBLP:conf/eccv/2012w2},
bibsource = {DBLP, http://dblp.uni-trier.de}
}

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 12.99 % 14.66 % 2.1 px 2.6 px
3 pixels 9.79 % 11.38 % 2.1 px 2.6 px
4 pixels 8.10 % 9.61 % 2.1 px 2.6 px
5 pixels 6.96 % 8.41 % 2.1 px 2.6 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 40.32 % 43.16 % 11.7 px 12.9 px
3 pixels 33.78 % 36.81 % 11.7 px 12.9 px
4 pixels 29.68 % 32.77 % 11.7 px 12.9 px
5 pixels 26.75 % 29.82 % 11.7 px 12.9 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.78 % 12.89 % 1.3 px 1.8 px
3 pixels 8.35 % 10.23 % 1.3 px 1.8 px
4 pixels 6.83 % 8.47 % 1.3 px 1.8 px
5 pixels 5.70 % 7.16 % 1.3 px 1.8 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.67 % 12.50 % 1.3 px 1.6 px
3 pixels 6.41 % 8.69 % 1.3 px 1.6 px
4 pixels 4.98 % 6.85 % 1.3 px 1.6 px
5 pixels 4.34 % 5.88 % 1.3 px 1.6 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 16.56 % 17.67 % 2.8 px 3.1 px
3 pixels 13.22 % 14.09 % 2.8 px 3.1 px
4 pixels 11.24 % 11.93 % 2.8 px 3.1 px
5 pixels 10.04 % 10.64 % 2.8 px 3.1 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.94 % 14.36 % 1.1 px 1.5 px
3 pixels 6.37 % 8.95 % 1.1 px 1.5 px
4 pixels 4.00 % 6.64 % 1.1 px 1.5 px
5 pixels 2.99 % 5.65 % 1.1 px 1.5 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.56 % 11.15 % 1.7 px 2.1 px
3 pixels 6.84 % 8.24 % 1.7 px 2.1 px
4 pixels 5.78 % 7.05 % 1.7 px 2.1 px
5 pixels 5.24 % 6.50 % 1.7 px 2.1 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.24 % 6.76 % 0.9 px 1.4 px
3 pixels 3.31 % 4.80 % 0.9 px 1.4 px
4 pixels 2.50 % 3.93 % 0.9 px 1.4 px
5 pixels 1.89 % 3.32 % 0.9 px 1.4 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 17.78 % 19.48 % 2.8 px 3.2 px
3 pixels 12.46 % 13.80 % 2.8 px 3.2 px
4 pixels 10.05 % 11.25 % 2.8 px 3.2 px
5 pixels 8.73 % 9.85 % 2.8 px 3.2 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 27.96 % 29.73 % 4.3 px 4.8 px
3 pixels 22.52 % 24.38 % 4.3 px 4.8 px
4 pixels 19.07 % 21.00 % 4.3 px 4.8 px
5 pixels 16.89 % 18.82 % 4.3 px 4.8 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.14 % 8.65 % 1.3 px 1.8 px
3 pixels 5.68 % 7.20 % 1.3 px 1.8 px
4 pixels 4.85 % 6.29 % 1.3 px 1.8 px
5 pixels 4.37 % 5.77 % 1.3 px 1.8 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 20.12 % 22.10 % 2.0 px 2.7 px
3 pixels 15.20 % 17.30 % 2.0 px 2.7 px
4 pixels 11.77 % 13.95 % 2.0 px 2.7 px
5 pixels 9.59 % 11.77 % 2.0 px 2.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.90 % 9.28 % 1.0 px 1.1 px
3 pixels 5.28 % 6.63 % 1.0 px 1.1 px
4 pixels 3.74 % 5.04 % 1.0 px 1.1 px
5 pixels 2.94 % 4.21 % 1.0 px 1.1 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 20.67 % 23.39 % 2.9 px 4.1 px
3 pixels 13.53 % 16.36 % 2.9 px 4.1 px
4 pixels 9.73 % 12.59 % 2.9 px 4.1 px
5 pixels 7.98 % 10.76 % 2.9 px 4.1 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.96 % 16.17 % 2.8 px 4.1 px
3 pixels 11.50 % 13.79 % 2.8 px 4.1 px
4 pixels 9.45 % 11.78 % 2.8 px 4.1 px
5 pixels 8.38 % 10.74 % 2.8 px 4.1 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.63 % 14.81 % 2.2 px 2.5 px
3 pixels 11.40 % 12.58 % 2.2 px 2.5 px
4 pixels 10.50 % 11.67 % 2.2 px 2.5 px
5 pixels 9.73 % 10.91 % 2.2 px 2.5 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 22.40 % 23.30 % 3.9 px 4.0 px
3 pixels 18.70 % 19.48 % 3.9 px 4.0 px
4 pixels 17.13 % 17.88 % 3.9 px 4.0 px
5 pixels 15.76 % 16.52 % 3.9 px 4.0 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.39 % 12.26 % 1.3 px 1.3 px
3 pixels 7.64 % 8.25 % 1.3 px 1.3 px
4 pixels 5.54 % 6.09 % 1.3 px 1.3 px
5 pixels 4.08 % 4.64 % 1.3 px 1.3 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.47 % 8.90 % 1.0 px 1.6 px
3 pixels 4.67 % 6.11 % 1.0 px 1.6 px
4 pixels 3.53 % 4.99 % 1.0 px 1.6 px
5 pixels 2.84 % 4.31 % 1.0 px 1.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.88 % 12.06 % 1.4 px 1.8 px
3 pixels 8.59 % 9.79 % 1.4 px 1.8 px
4 pixels 7.05 % 8.22 % 1.4 px 1.8 px
5 pixels 5.61 % 6.73 % 1.4 px 1.8 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.76 % 13.52 % 1.7 px 1.8 px
3 pixels 10.90 % 11.62 % 1.7 px 1.8 px
4 pixels 9.66 % 10.38 % 1.7 px 1.8 px
5 pixels 8.88 % 9.58 % 1.7 px 1.8 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.83 % 8.02 % 1.2 px 1.2 px
3 pixels 4.33 % 4.75 % 1.2 px 1.2 px
4 pixels 2.91 % 3.17 % 1.2 px 1.2 px
5 pixels 2.34 % 2.53 % 1.2 px 1.2 px
This table as LaTeX







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