Method

Bilateral Grid Learning for Stereo Matching Network [BGNet+]


Submitted on 16 Nov. 2020 13:07 by
Yuhua Xu (Hefei University of Technology)

Running time:0.02 s
Environment:GPU @ 2.5 Ghz (Python)

Method Description:
Compared with BGNet, there is a
disparity refinement module in BGNet+.
Parameters:
Adam, bata1 = 0.9, beta2 = 0.999, learning rate =
0.001
Latex Bibtex:
@article{bgnet2021,
title={Bilateral Grid Learning for Stereo Matching
Network},
author={Xu, Bin and Xu, Yuhua and Yang, Xiaoli and
Jia, Wei and Guo, Yulan},
journal={Proceedings of the IEEE/CVF Conference on
Computer Vision and Pattern Recognition (CVPR)},
year={2021}
}

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 2.78 % 3.35 % 0.5 px 0.6 px
3 pixels 1.62 % 2.03 % 0.5 px 0.6 px
4 pixels 1.16 % 1.48 % 0.5 px 0.6 px
5 pixels 0.90 % 1.16 % 0.5 px 0.6 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 11.89 % 14.30 % 1.2 px 1.4 px
3 pixels 6.44 % 8.41 % 1.2 px 1.4 px
4 pixels 4.26 % 5.80 % 1.2 px 1.4 px
5 pixels 3.11 % 4.33 % 1.2 px 1.4 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.67 % 1.83 % 0.4 px 0.4 px
3 pixels 0.99 % 1.16 % 0.4 px 0.4 px
4 pixels 0.74 % 0.90 % 0.4 px 0.4 px
5 pixels 0.58 % 0.73 % 0.4 px 0.4 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.25 % 3.60 % 0.6 px 0.6 px
3 pixels 1.91 % 1.99 % 0.6 px 0.6 px
4 pixels 1.46 % 1.48 % 0.6 px 0.6 px
5 pixels 1.22 % 1.25 % 0.6 px 0.6 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.17 % 2.56 % 0.4 px 0.4 px
3 pixels 0.89 % 0.93 % 0.4 px 0.4 px
4 pixels 0.43 % 0.48 % 0.4 px 0.4 px
5 pixels 0.30 % 0.36 % 0.4 px 0.4 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.16 % 2.39 % 0.3 px 0.4 px
3 pixels 0.43 % 1.09 % 0.3 px 0.4 px
4 pixels 0.28 % 0.47 % 0.3 px 0.4 px
5 pixels 0.20 % 0.25 % 0.3 px 0.4 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.67 % 2.68 % 0.4 px 0.4 px
3 pixels 1.67 % 1.67 % 0.4 px 0.4 px
4 pixels 0.91 % 0.92 % 0.4 px 0.4 px
5 pixels 0.38 % 0.40 % 0.4 px 0.4 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.28 % 1.47 % 0.3 px 0.3 px
3 pixels 0.70 % 0.82 % 0.3 px 0.3 px
4 pixels 0.53 % 0.60 % 0.3 px 0.3 px
5 pixels 0.40 % 0.42 % 0.3 px 0.3 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 5.00 % 5.23 % 0.7 px 0.7 px
3 pixels 2.32 % 2.48 % 0.7 px 0.7 px
4 pixels 1.35 % 1.45 % 0.7 px 0.7 px
5 pixels 1.00 % 1.06 % 0.7 px 0.7 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.04 % 4.20 % 0.6 px 0.7 px
3 pixels 1.69 % 2.79 % 0.6 px 0.7 px
4 pixels 1.10 % 2.10 % 0.6 px 0.7 px
5 pixels 0.84 % 1.55 % 0.6 px 0.7 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.59 % 2.04 % 0.4 px 0.5 px
3 pixels 0.90 % 1.36 % 0.4 px 0.5 px
4 pixels 0.73 % 1.19 % 0.4 px 0.5 px
5 pixels 0.63 % 1.08 % 0.4 px 0.5 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.88 % 4.03 % 0.6 px 0.8 px
3 pixels 1.42 % 2.08 % 0.6 px 0.8 px
4 pixels 0.97 % 1.45 % 0.6 px 0.8 px
5 pixels 0.78 % 1.13 % 0.6 px 0.8 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.70 % 1.82 % 0.4 px 0.4 px
3 pixels 1.18 % 1.23 % 0.4 px 0.4 px
4 pixels 0.87 % 0.91 % 0.4 px 0.4 px
5 pixels 0.71 % 0.76 % 0.4 px 0.4 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.32 % 3.39 % 0.7 px 0.7 px
3 pixels 1.32 % 1.40 % 0.7 px 0.7 px
4 pixels 1.00 % 1.01 % 0.7 px 0.7 px
5 pixels 0.86 % 0.83 % 0.7 px 0.7 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.85 % 6.85 % 0.7 px 0.9 px
3 pixels 2.93 % 4.84 % 0.7 px 0.9 px
4 pixels 2.26 % 4.04 % 0.7 px 0.9 px
5 pixels 1.90 % 3.59 % 0.7 px 0.9 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.58 % 2.87 % 0.6 px 0.6 px
3 pixels 1.77 % 1.88 % 0.6 px 0.6 px
4 pixels 1.34 % 1.37 % 0.6 px 0.6 px
5 pixels 1.14 % 1.15 % 0.6 px 0.6 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.61 % 0.60 % 0.4 px 0.4 px
3 pixels 0.29 % 0.29 % 0.4 px 0.4 px
4 pixels 0.16 % 0.16 % 0.4 px 0.4 px
5 pixels 0.11 % 0.10 % 0.4 px 0.4 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.35 % 3.31 % 0.5 px 0.5 px
3 pixels 1.59 % 1.55 % 0.5 px 0.5 px
4 pixels 0.89 % 0.87 % 0.5 px 0.5 px
5 pixels 0.66 % 0.64 % 0.5 px 0.5 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.89 % 2.83 % 0.6 px 0.6 px
3 pixels 1.03 % 1.01 % 0.6 px 0.6 px
4 pixels 0.56 % 0.54 % 0.6 px 0.6 px
5 pixels 0.39 % 0.38 % 0.6 px 0.6 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.99 % 4.31 % 0.6 px 0.6 px
3 pixels 2.48 % 2.69 % 0.6 px 0.6 px
4 pixels 1.72 % 1.86 % 0.6 px 0.6 px
5 pixels 1.35 % 1.46 % 0.6 px 0.6 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 0.63 % 0.76 % 0.3 px 0.3 px
3 pixels 0.41 % 0.48 % 0.3 px 0.3 px
4 pixels 0.29 % 0.35 % 0.3 px 0.3 px
5 pixels 0.19 % 0.20 % 0.3 px 0.3 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 1.13 % 1.09 % 0.4 px 0.4 px
3 pixels 0.77 % 0.75 % 0.4 px 0.4 px
4 pixels 0.59 % 0.57 % 0.4 px 0.4 px
5 pixels 0.51 % 0.49 % 0.4 px 0.4 px
This table as LaTeX







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