\begin{tabular}{c | c | c | c | c | c | c | c | c | c | c | c | c | c | c}
{\bf Method} & {\bf D1-bg} & {\bf D1-fg} & {\bf D1-all} & {\bf D2-bg} & {\bf D2-fg} & {\bf D2-all} & {\bf Fl-bg} & {\bf Fl-fg} & {\bf Fl-all} & {\bf SF-bg} & {\bf SF-fg} & {\bf SF-all} & {\bf Density} & {\bf Runtime}\\ \hline
CamLiFlow \cite{liu2021camliflow} & 1.48 \% & 3.46 \% & 1.81 \% & 1.92 \% & 8.14 \% & 2.95 \% & 2.31 \% & 7.04 \% & 3.10 \% & 2.87 \% & 12.23 \% & 4.43 \% & 100.00 \% & 1.2 s / GPU \\
RigidMask+ISF \cite{yang2021rigidmask} & 1.53 \% & 3.65 \% & 1.89 \% & 2.09 \% & 8.92 \% & 3.23 \% & 2.63 \% & 7.85 \% & 3.50 \% & 3.25 \% & 13.08 \% & 4.89 \% & 100.00 \% & 3.3 s / GPU \\
RAFT-3D \cite{teed2020raft} & 1.48 \% & 3.46 \% & 1.81 \% & 2.51 \% & 9.46 \% & 3.67 \% & 3.39 \% & 8.79 \% & 4.29 \% & 4.27 \% & 13.27 \% & 5.77 \% & 100.00 \% & 2 s / GPU \\
UberATG-DRISF \cite{Ma2019CVPR} & 2.16 \% & 4.49 \% & 2.55 \% & 2.90 \% & 9.73 \% & 4.04 \% & 3.59 \% & 10.40 \% & 4.73 \% & 4.39 \% & 15.94 \% & 6.31 \% & 100.00 \% & 0.75 s / CPU+GPU \\
ACOSF \cite{Cong2020ICPR} & 2.79 \% & 7.56 \% & 3.58 \% & 3.82 \% & 12.74 \% & 5.31 \% & 4.56 \% & 12.00 \% & 5.79 \% & 5.61 \% & 19.38 \% & 7.90 \% & 100.00 \% & 5 min / 1 core \\
ISF \cite{Behl2017ICCV} & 4.12 \% & 6.17 \% & 4.46 \% & 4.88 \% & 11.34 \% & 5.95 \% & 5.40 \% & 10.29 \% & 6.22 \% & 6.58 \% & 15.63 \% & 8.08 \% & 100.00 \% & 10 min / 1 core \\
Stereo expansion \cite{yang2020upgrading} & 1.48 \% & 3.46 \% & 1.81 \% & 3.39 \% & 8.54 \% & 4.25 \% & 5.83 \% & 8.66 \% & 6.30 \% & 7.06 \% & 13.44 \% & 8.12 \% & 100.00 \% & 2 s / GPU \\
Binary TTC \cite{badki2021BiTTC} & 1.48 \% & 3.46 \% & 1.81 \% & 3.84 \% & 9.39 \% & 4.76 \% & 5.84 \% & 8.67 \% & 6.31 \% & 7.45 \% & 13.74 \% & 8.50 \% & 100.00 \% & 2 s / GPU \\
PRSM \cite{Vogel2015IJCV} & 3.02 \% & 10.52 \% & 4.27 \% & 5.13 \% & 15.11 \% & 6.79 \% & 5.33 \% & 13.40 \% & 6.68 \% & 6.61 \% & 20.79 \% & 8.97 \% & 99.99 \% & 300 s / 1 core \\
DTF\_SENSE \cite{schuster2021dtf} & 2.08 \% & 3.13 \% & 2.25 \% & 4.82 \% & 9.02 \% & 5.52 \% & 7.31 \% & 9.48 \% & 7.67 \% & 8.21 \% & 14.08 \% & 9.18 \% & 100.00 \% & 0.76 s / 1 core \\
OSF+TC \cite{Neoral2017CVWW} & 4.11 \% & 9.64 \% & 5.03 \% & 5.18 \% & 15.12 \% & 6.84 \% & 5.76 \% & 13.31 \% & 7.02 \% & 7.08 \% & 20.03 \% & 9.23 \% & 100.00 \% & 50 min / 1 core \\
SENSE \cite{Jiang2019ICCV} & 2.07 \% & 3.01 \% & 2.22 \% & 4.90 \% & 10.83 \% & 5.89 \% & 7.30 \% & 9.33 \% & 7.64 \% & 8.36 \% & 15.49 \% & 9.55 \% & 100.00 \% & 0.32s / \\
OSF 2018 \cite{Menze2018JPRS} & 4.11 \% & 11.12 \% & 5.28 \% & 5.01 \% & 17.28 \% & 7.06 \% & 5.38 \% & 17.61 \% & 7.41 \% & 6.68 \% & 24.59 \% & 9.66 \% & 100.00 \% & 390 s / 1 core \\
SSF \cite{Ren20173DV} & 3.55 \% & 8.75 \% & 4.42 \% & 4.94 \% & 17.48 \% & 7.02 \% & 5.63 \% & 14.71 \% & 7.14 \% & 7.18 \% & 24.58 \% & 10.07 \% & 100.00 \% & 5 min / 1 core \\
OSF \cite{Menze2015CVPR} & 4.54 \% & 12.03 \% & 5.79 \% & 5.45 \% & 19.41 \% & 7.77 \% & 5.62 \% & 18.92 \% & 7.83 \% & 7.01 \% & 26.34 \% & 10.23 \% & 100.00 \% & 50 min / 1 core \\
DWARF \cite{AleottiAAAI2020} & 3.20 \% & 3.94 \% & 3.33 \% & 6.21 \% & 9.38 \% & 6.73 \% & 9.80 \% & 13.37 \% & 10.39 \% & 11.72 \% & 18.06 \% & 12.78 \% & 100.00 \% & 0.14s - 1.43s / \\
SFF++ \cite{schuster2019sffpp} & 4.27 \% & 12.38 \% & 5.62 \% & 7.31 \% & 18.12 \% & 9.11 \% & 10.63 \% & 17.48 \% & 11.77 \% & 12.44 \% & 25.33 \% & 14.59 \% & 100.00 \% & 78 s / 4 cores \\
DTF\_PWOC \cite{schuster2021dtf} & 3.91 \% & 8.57 \% & 4.68 \% & 6.25 \% & 14.03 \% & 7.55 \% & 10.78 \% & 19.99 \% & 12.31 \% & 12.42 \% & 25.74 \% & 14.64 \% & 100.00 \% & 0.38 s / \\
FSF+MS \cite{Taniai2017} & 5.72 \% & 11.84 \% & 6.74 \% & 7.57 \% & 21.28 \% & 9.85 \% & 8.48 \% & 25.43 \% & 11.30 \% & 11.17 \% & 33.91 \% & 14.96 \% & 100.00 \% & 2.7 s / 4 cores \\
PWOC-3D \cite{saxena2019pwoc} & 4.19 \% & 9.82 \% & 5.13 \% & 7.21 \% & 14.73 \% & 8.46 \% & 12.40 \% & 15.78 \% & 12.96 \% & 14.30 \% & 22.66 \% & 15.69 \% & 100.00 \% & 0.13 s / \\
CSF \cite{Lv2016ECCV} & 4.57 \% & 13.04 \% & 5.98 \% & 7.92 \% & 20.76 \% & 10.06 \% & 10.40 \% & 25.78 \% & 12.96 \% & 12.21 \% & 33.21 \% & 15.71 \% & 99.99 \% & 80 s / 1 core \\
SceneFFields \cite{schuster2018sceneflowfields} & 5.12 \% & 13.83 \% & 6.57 \% & 8.47 \% & 21.83 \% & 10.69 \% & 10.58 \% & 24.41 \% & 12.88 \% & 12.48 \% & 32.28 \% & 15.78 \% & 100.00 \% & 65 s / 4 cores \\
PR-Sceneflow \cite{Vogel2013ICCV} & 4.74 \% & 13.74 \% & 6.24 \% & 11.14 \% & 20.47 \% & 12.69 \% & 11.73 \% & 24.33 \% & 13.83 \% & 13.49 \% & 31.22 \% & 16.44 \% & 100.00 \% & 150 s / 4 core \\
SPS+FF++ \cite{schuster2018dense} & 5.47 \% & 12.19 \% & 6.59 \% & 13.06 \% & 20.83 \% & 14.35 \% & 15.91 \% & 20.27 \% & 16.64 \% & 18.98 \% & 29.51 \% & 20.73 \% & 100.00 \% & 36 s / 1 core \\
Mono-SF \cite{brickwedde2019monosf} & 14.21 \% & 26.94 \% & 16.32 \% & 16.89 \% & 33.07 \% & 19.59 \% & 11.40 \% & 19.64 \% & 12.77 \% & 19.79 \% & 39.57 \% & 23.08 \% & 100.00 \% & 41 s / 1 core \\
SGM+SF \cite{Hirschmueller2008PAMI} & 5.15 \% & 15.29 \% & 6.84 \% & 14.10 \% & 23.13 \% & 15.60 \% & 20.91 \% & 25.50 \% & 21.67 \% & 23.09 \% & 34.46 \% & 24.98 \% & 100.00 \% & 45 min / 16 core \\
MonoComb \cite{schuster2020mono} & 17.89 \% & 21.16 \% & 18.44 \% & 22.34 \% & 25.85 \% & 22.93 \% & 5.84 \% & 8.67 \% & 6.31 \% & 27.06 \% & 33.55 \% & 28.14 \% & 100.00 \% & 0.58 s / \\
PCOF-LDOF \cite{Derome2016GCPR} & 6.31 \% & 19.24 \% & 8.46 \% & 19.09 \% & 30.54 \% & 20.99 \% & 14.34 \% & 38.32 \% & 18.33 \% & 25.26 \% & 49.39 \% & 29.27 \% & 100.00 \% & 50 s / 1 core \\
PCOF + ACTF \cite{Derome2016GCPR} & 6.31 \% & 19.24 \% & 8.46 \% & 19.15 \% & 36.27 \% & 22.00 \% & 14.89 \% & 60.15 \% & 22.43 \% & 25.77 \% & 67.75 \% & 32.76 \% & 100.00 \% & 0.08 s / GPU \\
Multi-Mono-SF-ft \cite{Hur2021CVPR} & 21.60 \% & 28.22 \% & 22.71 \% & 25.47 \% & 31.72 \% & 26.51 \% & 12.41 \% & 18.20 \% & 13.37 \% & 31.18 \% & 42.68 \% & 33.09 \% & 100.00 \% & 0.06 s / \\
SGM&FlowFie+ \cite{Schuster2018Combining} & 11.93 \% & 20.57 \% & 13.37 \% & 27.02 \% & 31.71 \% & 27.80 \% & 22.83 \% & 22.75 \% & 22.82 \% & 32.26 \% & 40.12 \% & 33.57 \% & 81.24 \% & 29 s / 1 core \\
Self-Mono-SF-ft \cite{Hur2020CVPR} & 20.72 \% & 29.41 \% & 22.16 \% & 23.83 \% & 32.29 \% & 25.24 \% & 15.51 \% & 17.96 \% & 15.91 \% & 31.51 \% & 45.77 \% & 33.88 \% & 100.00 \% & 0.09 s / \\
SGM+C+NL \cite{Hirschmueller2008PAMI} & 5.15 \% & 15.29 \% & 6.84 \% & 28.77 \% & 25.65 \% & 28.25 \% & 34.24 \% & 42.46 \% & 35.61 \% & 38.21 \% & 50.95 \% & 40.33 \% & 100.00 \% & 4.5 min / 1 core \\
SGM+LDOF \cite{Hirschmueller2008PAMI} & 5.15 \% & 15.29 \% & 6.84 \% & 29.58 \% & 23.48 \% & 28.56 \% & 40.81 \% & 31.92 \% & 39.33 \% & 43.99 \% & 42.09 \% & 43.67 \% & 100.00 \% & 86 s / 1 core \\
Multi-Mono-SF \cite{Hur2021CVPR} & 27.48 \% & 47.30 \% & 30.78 \% & 32.39 \% & 44.56 \% & 34.41 \% & 18.13 \% & 26.59 \% & 19.54 \% & 40.29 \% & 62.78 \% & 44.04 \% & 100.00 \% & 0.06 s / \\
DWBSF \cite{Richardt2016THREEDV} & 19.61 \% & 22.69 \% & 20.12 \% & 35.72 \% & 28.15 \% & 34.46 \% & 40.74 \% & 31.16 \% & 39.14 \% & 46.42 \% & 40.76 \% & 45.48 \% & 100.00 \% & 7 min / 4 cores \\
Self-Mono-SF \cite{Hur2020CVPR} & 31.22 \% & 48.04 \% & 34.02 \% & 34.89 \% & 43.59 \% & 36.34 \% & 23.26 \% & 24.93 \% & 23.54 \% & 46.68 \% & 63.82 \% & 49.54 \% & 100.00 \% & 0.09 s / \\
GCSF \cite{Cech2011CVPR} & 11.64 \% & 27.11 \% & 14.21 \% & 32.94 \% & 35.77 \% & 33.41 \% & 47.38 \% & 41.50 \% & 46.40 \% & 52.92 \% & 56.68 \% & 53.54 \% & 100.00 \% & 2.4 s / 1 core \\
RLSSF \cite{ERROR: Wrong syntax in BIBTEX file.} & 37.84 \% & 54.56 \% & 40.62 \% & 44.35 \% & 54.94 \% & 46.11 \% & 59.10 \% & 52.99 \% & 58.08 \% & 64.88 \% & 65.92 \% & 65.05 \% & 16.51 \% & 1.2 s / 8 cores \\
VSF \cite{Huguet2007ICCV} & 27.31 \% & 21.72 \% & 26.38 \% & 59.51 \% & 44.93 \% & 57.08 \% & 50.06 \% & 45.40 \% & 49.28 \% & 67.69 \% & 62.93 \% & 66.90 \% & 100.00 \% & 125 min / 1 core \\
HNRLSSF \cite{ERROR: Wrong syntax in BIBTEX file.} & 53.78 \% & 69.28 \% & 56.36 \% & 56.66 \% & 69.33 \% & 58.77 \% & 68.00 \% & 71.33 \% & 68.55 \% & 74.75 \% & 81.14 \% & 75.81 \% & 10.52 \% & 2.5 s / 1 core \\
RLPSSF \cite{2274206} & 56.60 \% & 73.05 \% & 59.34 \% & 58.86 \% & 74.41 \% & 61.45 \% & 70.68 \% & 73.60 \% & 71.17 \% & 76.21 \% & 81.62 \% & 77.11 \% & 9.26 \% & 2.5 s / 8 core \\
PRLSSF \cite{ERROR: Wrong syntax in BIBTEX file.} & 58.62 \% & 75.07 \% & 61.36 \% & 60.59 \% & 75.88 \% & 63.14 \% & 73.05 \% & 76.85 \% & 73.68 \% & 78.88 \% & 84.51 \% & 79.82 \% & 6.96 \% & 1.5 s / 8 cores
\end{tabular}