Method

multi-block-matching stereo [MBM]


Submitted on 15 Dec. 2014 15:58 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 get a copy of the paper here.

A novel multi-block-matching scheme for standard stereo.

The idea is to use multiple blocks (filters) of different size and shape and to integrate their correlation values in a probabilistic fashion. Especially, an additional set of elongated horizontal and vertical blocks leads to a drastic improvement in street scenarios.
Parameters:
SNCC (first stage 3x3, second stage uses four blocks 61x1, 1x61, 3x3, 9x9)
sigma_gauss = 0.9
disp_range RBM = 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 = {A Multi-Block-Matching Approach for Stereo},
booktitle = {IV},
year = 2015
}

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 6.82 % 8.15 % 1.0 px 1.1 px
3 pixels 4.35 % 5.43 % 1.0 px 1.1 px
4 pixels 3.27 % 4.16 % 1.0 px 1.1 px
5 pixels 2.68 % 3.42 % 1.0 px 1.1 px
This table as LaTeX

Reflective Regions

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 28.14 % 31.35 % 3.6 px 4.3 px
3 pixels 20.37 % 23.63 % 3.6 px 4.3 px
4 pixels 16.38 % 19.53 % 3.6 px 4.3 px
5 pixels 14.02 % 16.97 % 3.6 px 4.3 px
This table as LaTeX

Test Image 0

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.21 % 9.03 % 0.9 px 1.0 px
3 pixels 4.72 % 6.10 % 0.9 px 1.0 px
4 pixels 3.41 % 4.50 % 0.9 px 1.0 px
5 pixels 2.63 % 3.46 % 0.9 px 1.0 px
This table as LaTeX





Test Image 1

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.30 % 8.65 % 1.0 px 1.1 px
3 pixels 4.17 % 5.82 % 1.0 px 1.1 px
4 pixels 3.41 % 4.55 % 1.0 px 1.1 px
5 pixels 2.93 % 3.74 % 1.0 px 1.1 px
This table as LaTeX





Test Image 2

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.12 % 9.08 % 0.8 px 0.9 px
3 pixels 4.65 % 5.15 % 0.8 px 0.9 px
4 pixels 2.63 % 2.88 % 0.8 px 0.9 px
5 pixels 1.69 % 1.84 % 0.8 px 0.9 px
This table as LaTeX





Test Image 3

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.26 % 10.77 % 0.8 px 1.1 px
3 pixels 4.63 % 6.97 % 0.8 px 1.1 px
4 pixels 3.05 % 4.96 % 0.8 px 1.1 px
5 pixels 2.03 % 3.56 % 0.8 px 1.1 px
This table as LaTeX





Test Image 4

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.75 % 7.57 % 0.8 px 0.9 px
3 pixels 4.50 % 4.59 % 0.8 px 0.9 px
4 pixels 2.62 % 2.73 % 0.8 px 0.9 px
5 pixels 1.42 % 1.55 % 0.8 px 0.9 px
This table as LaTeX





Test Image 5

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.91 % 3.21 % 0.6 px 0.6 px
3 pixels 1.35 % 1.46 % 0.6 px 0.6 px
4 pixels 1.02 % 1.10 % 0.6 px 0.6 px
5 pixels 0.91 % 0.99 % 0.6 px 0.6 px
This table as LaTeX





Test Image 6

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 10.16 % 11.16 % 1.4 px 1.5 px
3 pixels 7.17 % 7.54 % 1.4 px 1.5 px
4 pixels 5.70 % 6.10 % 1.4 px 1.5 px
5 pixels 4.96 % 5.37 % 1.4 px 1.5 px
This table as LaTeX





Test Image 7

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.42 % 10.51 % 1.3 px 1.5 px
3 pixels 4.68 % 6.50 % 1.3 px 1.5 px
4 pixels 3.53 % 5.03 % 1.3 px 1.5 px
5 pixels 3.02 % 4.19 % 1.3 px 1.5 px
This table as LaTeX





Test Image 8

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.19 % 3.70 % 0.6 px 0.7 px
3 pixels 1.79 % 2.23 % 0.6 px 0.7 px
4 pixels 1.34 % 1.79 % 0.6 px 0.7 px
5 pixels 1.17 % 1.61 % 0.6 px 0.7 px
This table as LaTeX





Test Image 9

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.45 % 14.61 % 1.4 px 2.0 px
3 pixels 8.16 % 10.43 % 1.4 px 2.0 px
4 pixels 5.94 % 8.27 % 1.4 px 2.0 px
5 pixels 4.87 % 7.23 % 1.4 px 2.0 px
This table as LaTeX





Test Image 10

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 3.74 % 4.89 % 0.6 px 0.7 px
3 pixels 2.23 % 3.06 % 0.6 px 0.7 px
4 pixels 1.64 % 2.23 % 0.6 px 0.7 px
5 pixels 1.26 % 1.56 % 0.6 px 0.7 px
This table as LaTeX





Test Image 11

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 12.50 % 15.37 % 1.3 px 1.5 px
3 pixels 6.73 % 9.37 % 1.3 px 1.5 px
4 pixels 4.36 % 6.53 % 1.3 px 1.5 px
5 pixels 3.40 % 5.05 % 1.3 px 1.5 px
This table as LaTeX





Test Image 12

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.01 % 8.47 % 1.5 px 1.5 px
3 pixels 5.14 % 6.42 % 1.5 px 1.5 px
4 pixels 4.62 % 5.68 % 1.5 px 1.5 px
5 pixels 4.27 % 5.10 % 1.5 px 1.5 px
This table as LaTeX





Test Image 13

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.05 % 9.23 % 1.2 px 1.4 px
3 pixels 5.76 % 6.85 % 1.2 px 1.4 px
4 pixels 4.74 % 5.69 % 1.2 px 1.4 px
5 pixels 4.12 % 4.97 % 1.2 px 1.4 px
This table as LaTeX





Test Image 14

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.99 % 4.08 % 0.6 px 0.6 px
3 pixels 1.30 % 2.00 % 0.6 px 0.6 px
4 pixels 1.03 % 1.32 % 0.6 px 0.6 px
5 pixels 0.90 % 0.98 % 0.6 px 0.6 px
This table as LaTeX





Test Image 15

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 6.80 % 6.98 % 0.8 px 0.8 px
3 pixels 3.94 % 3.89 % 0.8 px 0.8 px
4 pixels 2.47 % 2.42 % 0.8 px 0.8 px
5 pixels 1.83 % 1.79 % 0.8 px 0.8 px
This table as LaTeX





Test Image 16

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 4.02 % 4.19 % 0.7 px 0.7 px
3 pixels 1.38 % 1.39 % 0.7 px 0.7 px
4 pixels 0.71 % 0.72 % 0.7 px 0.7 px
5 pixels 0.42 % 0.41 % 0.7 px 0.7 px
This table as LaTeX





Test Image 17

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 7.95 % 9.03 % 1.1 px 1.2 px
3 pixels 5.90 % 6.83 % 1.1 px 1.2 px
4 pixels 4.81 % 5.33 % 1.1 px 1.2 px
5 pixels 3.73 % 3.96 % 1.1 px 1.2 px
This table as LaTeX





Test Image 18

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 8.62 % 9.56 % 0.8 px 0.9 px
3 pixels 6.58 % 7.40 % 0.8 px 0.9 px
4 pixels 5.24 % 5.98 % 0.8 px 0.9 px
5 pixels 4.35 % 5.03 % 0.8 px 0.9 px
This table as LaTeX





Test Image 19

Error Out-Noc Out-All Avg-Noc Avg-All
2 pixels 2.71 % 3.35 % 0.6 px 0.6 px
3 pixels 1.37 % 1.63 % 0.6 px 0.6 px
4 pixels 0.88 % 0.99 % 0.6 px 0.6 px
5 pixels 0.71 % 0.69 % 0.6 px 0.6 px
This table as LaTeX







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