Method

Relaxed Block-Matching [RBM]


Submitted on 10 Jul. 2014 11:41 by
Nils Einecke (Honda Research Institute Europe GmbH)

Running time:0.2 s
Environment:1 core @ 3.0 Ghz (C/C++)

Method Description:
You can request a copy of the paper here.


Block-matching stereo which relaxes the fronto-parallel assumption with penalization. Instead of summing pixel-level costs into block-matching costs as typically done, here the pixel-level costs are refined first. Using a small relative search range of +-2 disparities the best pixel-level cost is computed for each pixel and disparity. If the pixel-level cost is better for non-zero relative disparity then the pixel-level cost is penalized. For this evaluation the SNCC block-level cost is used, i.e. the pixel-level cost is a small NCC.

Please note that the results have been updated after the paper publication. Some bugs in the border handling were removed which improved the overall performance.
Parameters:
penalty P=0.9

SNCC (first stage 3x3, second stage 11x11)
sigma_gauss = 0.9
disp_range = 128
min correlation threshold = 0.3
region growing threshold = 2.5 disparity
min region size = 200 pixel
median filter = 1x9 and 9x1
Latex Bibtex:
@InProceedings{Einecke14,
author = {N. Einecke and J. Eggert},
title = {Block-Matching Stereo with Relaxed Fronto-Parallel Assumption},
booktitle = {IV},
pages = {700--705},
year = 2014
}

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 8.78 % 10.05 % 1.1 px 1.3 px
3 pixels 5.18 % 6.21 % 1.1 px 1.3 px
4 pixels 3.77 % 4.62 % 1.1 px 1.3 px
5 pixels 3.01 % 3.71 % 1.1 px 1.3 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 30.44 % 33.33 % 3.6 px 4.0 px
3 pixels 22.51 % 25.39 % 3.6 px 4.0 px
4 pixels 17.90 % 20.65 % 3.6 px 4.0 px
5 pixels 14.90 % 17.50 % 3.6 px 4.0 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.74 % 10.70 % 1.0 px 1.1 px
3 pixels 5.42 % 7.12 % 1.0 px 1.1 px
4 pixels 3.89 % 5.27 % 1.0 px 1.1 px
5 pixels 2.86 % 3.87 % 1.0 px 1.1 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.41 % 9.41 % 1.1 px 1.1 px
3 pixels 4.50 % 5.84 % 1.1 px 1.1 px
4 pixels 3.46 % 4.35 % 1.1 px 1.1 px
5 pixels 2.91 % 3.48 % 1.1 px 1.1 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.33 % 9.18 % 1.0 px 1.0 px
3 pixels 5.01 % 5.44 % 1.0 px 1.0 px
4 pixels 3.53 % 3.70 % 1.0 px 1.0 px
5 pixels 2.63 % 2.71 % 1.0 px 1.0 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.68 % 13.83 % 1.0 px 1.2 px
3 pixels 6.34 % 8.30 % 1.0 px 1.2 px
4 pixels 3.88 % 5.41 % 1.0 px 1.2 px
5 pixels 2.71 % 3.85 % 1.0 px 1.2 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.25 % 11.95 % 1.0 px 1.1 px
3 pixels 6.93 % 7.06 % 1.0 px 1.1 px
4 pixels 4.65 % 4.77 % 1.0 px 1.1 px
5 pixels 2.51 % 2.62 % 1.0 px 1.1 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.44 % 4.98 % 0.7 px 0.8 px
3 pixels 2.03 % 2.36 % 0.7 px 0.8 px
4 pixels 1.37 % 1.47 % 0.7 px 0.8 px
5 pixels 1.11 % 1.12 % 0.7 px 0.8 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.00 % 11.30 % 1.3 px 1.4 px
3 pixels 6.72 % 7.08 % 1.3 px 1.4 px
4 pixels 5.01 % 5.37 % 1.3 px 1.4 px
5 pixels 4.39 % 4.75 % 1.3 px 1.4 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 13.27 % 15.08 % 1.3 px 1.4 px
3 pixels 7.03 % 8.62 % 1.3 px 1.4 px
4 pixels 4.42 % 5.70 % 1.3 px 1.4 px
5 pixels 3.29 % 4.22 % 1.3 px 1.4 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.84 % 4.33 % 0.7 px 0.7 px
3 pixels 2.16 % 2.59 % 0.7 px 0.7 px
4 pixels 1.34 % 1.78 % 0.7 px 0.7 px
5 pixels 1.11 % 1.56 % 0.7 px 0.7 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 14.73 % 16.83 % 1.4 px 1.7 px
3 pixels 8.59 % 10.84 % 1.4 px 1.7 px
4 pixels 5.53 % 7.71 % 1.4 px 1.7 px
5 pixels 4.30 % 6.19 % 1.4 px 1.7 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.44 % 6.55 % 0.8 px 0.8 px
3 pixels 2.70 % 3.47 % 0.8 px 0.8 px
4 pixels 1.77 % 2.21 % 0.8 px 0.8 px
5 pixels 1.38 % 1.56 % 0.8 px 0.8 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 15.97 % 18.49 % 1.7 px 1.8 px
3 pixels 9.35 % 11.58 % 1.7 px 1.8 px
4 pixels 6.64 % 8.41 % 1.7 px 1.8 px
5 pixels 5.26 % 6.56 % 1.7 px 1.8 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.76 % 10.64 % 1.5 px 1.7 px
3 pixels 5.91 % 7.39 % 1.5 px 1.7 px
4 pixels 4.88 % 6.13 % 1.5 px 1.7 px
5 pixels 4.53 % 5.60 % 1.5 px 1.7 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.80 % 10.75 % 1.4 px 1.6 px
3 pixels 6.07 % 6.95 % 1.4 px 1.6 px
4 pixels 4.86 % 5.68 % 1.4 px 1.6 px
5 pixels 4.07 % 4.89 % 1.4 px 1.6 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.51 % 6.04 % 0.8 px 0.8 px
3 pixels 2.78 % 3.01 % 0.8 px 0.8 px
4 pixels 2.15 % 2.31 % 0.8 px 0.8 px
5 pixels 1.84 % 1.98 % 0.8 px 0.8 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.90 % 9.26 % 1.0 px 1.0 px
3 pixels 4.81 % 4.88 % 1.0 px 1.0 px
4 pixels 2.85 % 2.78 % 1.0 px 1.0 px
5 pixels 2.18 % 2.12 % 1.0 px 1.0 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.91 % 5.54 % 0.7 px 0.7 px
3 pixels 1.75 % 2.23 % 0.7 px 0.7 px
4 pixels 0.88 % 1.18 % 0.7 px 0.7 px
5 pixels 0.44 % 0.51 % 0.7 px 0.7 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 9.01 % 10.15 % 1.2 px 1.2 px
3 pixels 6.37 % 7.35 % 1.2 px 1.2 px
4 pixels 4.95 % 5.64 % 1.2 px 1.2 px
5 pixels 3.65 % 3.97 % 1.2 px 1.2 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.62 % 11.50 % 1.0 px 1.0 px
3 pixels 7.36 % 8.04 % 1.0 px 1.0 px
4 pixels 5.90 % 6.50 % 1.0 px 1.0 px
5 pixels 4.99 % 5.51 % 1.0 px 1.0 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.04 % 4.35 % 0.7 px 0.7 px
3 pixels 2.11 % 2.11 % 0.7 px 0.7 px
4 pixels 1.31 % 1.27 % 0.7 px 0.7 px
5 pixels 1.13 % 1.10 % 0.7 px 0.7 px
This table as LaTeX







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