Overall
comparison of algorithms with sub-pixel estimation using a single view |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The
table below is the current, off-line version of Figure 3 of our paper. It
compares the performance of different stereo algorithms on four test |
|
|
|
|
|
|
|
image
pairs, including all the algorithms reported to the Middlebury website. The
numbers represent the percentage of "bad" pixels, i.e., pixel
whose |
|
|
|
|
|
|
absolute
disparity error is greater than [0.50 | 0.75 | 1.00 | 1.50 |2.00], the error
threshold can be changed by clicking on the tabs at the end of |
|
|
|
|
|
|
the
table. For each image pair, we report percentages for (1) non-occluded
pixels, (2) all pixels and (3) pixels near depth. All the scoring and
ranking |
|
|
|
|
|
|
schemes are the
same as the Middlebury benchmark. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
All
algorithms are run with constant parameter settings across all four images.
The rank of each algorithm in each column is indicated with a small red
number. |
|
|
|
|
The
algorithms are listed roughly in decreasing order of overall performance (as
measured by average rank). |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The
difference between this benchmark and the Middlebury one is that we provide
sub-pixel estimation for all the algorithms reported to the Middlebury
website |
|
|
|
|
by
using only a single view (the reference view) or two views. The lines with
the blue highlighting are the experimental results with our sub-pixel
estimations. |
|
|
|
|
This
sub-pixel benchmark proves that the sub-pixel estimation algorithm proposed
is very robust; it works for all the algorithms. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Algorithms |
Avg. |
|
|
Tsukuba |
|
|
|
|
|
Venus |
|
|
|
|
|
Teddy |
|
|
|
|
|
Cones |
|
|
|
|
|
Rank |
nonocc |
|
all |
|
disc |
|
nonocc |
|
all |
|
disc |
|
nonocc |
|
all |
|
disc |
|
nonocc |
|
all |
|
disc |
|
|
AdaptingBP |
3.75 |
1.05 |
8 |
1.31 |
3 |
5.66 |
10 |
0.1 |
3 |
0.18 |
1 |
1.42 |
4 |
1.05 |
2 |
2 |
1 |
3.74 |
2 |
1.89 |
3 |
6.42 |
3 |
5.69 |
5 |
|
AdaptingBP(subpixel) |
4.42 |
1.06 |
9 |
1.32 |
4 |
5.73 |
11 |
0.1 |
4 |
0.18 |
2 |
1.42 |
5 |
0.99 |
1 |
2.11 |
2 |
3.55 |
1 |
1.9 |
4 |
6.45 |
4 |
5.73 |
6 |
|
AdaptWeight |
14.5 |
1.08 |
11 |
1.41 |
8 |
5.4 |
8 |
0.51 |
21 |
0.82 |
22 |
4.17 |
20 |
5.06 |
21 |
7.5 |
15 |
11.82 |
26 |
2.26 |
9 |
7.16 |
11 |
5.2 |
2 |
|
AdaptWeight(subpixel) |
16.92 |
1.22 |
18 |
1.63 |
13 |
6.13 |
16 |
0.51 |
22 |
0.79 |
21 |
4.17 |
21 |
5.1 |
23 |
7.53 |
16 |
11.84 |
27 |
2.26 |
10 |
7.2 |
12 |
5.36 |
4 |
|
CostRelax |
34 |
3.91 |
41 |
5.2 |
41 |
16.85 |
43 |
1.05 |
32 |
1.95 |
34 |
13.61 |
41 |
6.05 |
29 |
13.23 |
33 |
17.94 |
41 |
3.44 |
25 |
9.04 |
19 |
10.48 |
29 |
|
CostRelax(subpixel) |
35.08 |
3.99 |
42 |
5.29 |
42 |
17.27 |
44 |
1.06 |
34 |
1.94 |
33 |
13.65 |
42 |
6.08 |
30 |
13.27 |
34 |
18.04 |
42 |
3.47 |
26 |
9.12 |
22 |
10.54 |
30 |
|
C-SemiGlob |
11.17 |
1.2 |
14 |
1.7 |
16 |
6.42 |
18 |
0.23 |
13 |
0.38 |
11 |
3.15 |
13 |
3.04 |
9 |
6.37 |
12 |
7.97 |
7 |
2.13 |
7 |
6.64 |
5 |
6.37 |
9 |
|
C-SemiGlob(subpixel) |
13.33 |
1.25 |
21 |
1.76 |
19 |
6.69 |
23 |
0.23 |
14 |
0.39 |
14 |
3.16 |
14 |
3.06 |
10 |
6.36 |
11 |
8.06 |
8 |
2.18 |
8 |
6.76 |
8 |
6.53 |
10 |
|
DoubleBP |
4.17 |
0.83 |
3 |
1.24 |
1 |
4.49 |
3 |
0.1 |
5 |
0.35 |
10 |
1.46 |
6 |
1.41 |
3 |
4.13 |
5 |
4.73 |
3 |
1.71 |
1 |
7.02 |
9 |
5.16 |
1 |
|
DoubleBP(subpixel) |
4.75 |
0.85 |
4 |
1.25 |
2 |
4.57 |
4 |
0.1 |
6 |
0.33 |
9 |
1.39 |
3 |
1.45 |
4 |
4.13 |
6 |
4.79 |
4 |
1.76 |
2 |
7.07 |
10 |
5.31 |
3 |
|
DP |
40.75 |
3.43 |
39 |
4.23 |
37 |
9.85 |
37 |
6.5 |
50 |
7.43 |
50 |
17.36 |
46 |
7.11 |
34 |
14.92 |
38 |
13.43 |
32 |
6.52 |
42 |
15.07 |
42 |
15.09 |
42 |
|
DP(subpixel) |
39.75 |
3.55 |
40 |
4.37 |
38 |
10.42 |
38 |
5.97 |
49 |
6.88 |
49 |
15.89 |
44 |
6.67 |
31 |
14.49 |
37 |
12.95 |
31 |
6.3 |
40 |
14.88 |
39 |
15.03 |
41 |
|
GC |
35.67 |
1.67 |
31 |
3.75 |
35 |
8.2 |
29 |
0.83 |
27 |
2.37 |
40 |
8.12 |
32 |
9.72 |
42 |
18.84 |
46 |
17.23 |
38 |
4.51 |
35 |
14.98 |
40 |
11.21 |
33 |
|
GC(subpixel) |
36.33 |
1.8 |
34 |
3.95 |
36 |
8.89 |
33 |
0.83 |
28 |
2.36 |
39 |
8.12 |
33 |
9.65 |
41 |
18.76 |
45 |
17.13 |
36 |
4.53 |
36 |
15.01 |
41 |
11.24 |
34 |
|
GC+occ |
24.5 |
0.88 |
5 |
1.66 |
14 |
4.68 |
5 |
1.1 |
36 |
1.57 |
27 |
6.02 |
23 |
7.03 |
33 |
11.37 |
32 |
12.41 |
30 |
4.16 |
31 |
10.73 |
27 |
10.6 |
31 |
|
GC+occ(subpixel) |
25.25 |
0.92 |
6 |
1.72 |
17 |
4.86 |
6 |
1.1 |
37 |
1.58 |
28 |
6.02 |
24 |
7 |
32 |
11.32 |
31 |
12.31 |
29 |
4.2 |
32 |
10.83 |
29 |
10.68 |
32 |
|
GenModel |
30.83 |
2.35 |
37 |
4.5 |
39 |
12.17 |
41 |
1.11 |
38 |
2.2 |
38 |
10.42 |
36 |
3.88 |
15 |
11.05 |
30 |
11.91 |
28 |
3.07 |
18 |
12.76 |
33 |
8.1 |
17 |
|
GenModel(subpixel) |
30.25 |
2.35 |
38 |
4.5 |
40 |
12.19 |
42 |
1.08 |
35 |
2.17 |
37 |
10.19 |
35 |
3.75 |
13 |
10.88 |
29 |
11.38 |
22 |
3.1 |
20 |
12.79 |
34 |
8.19 |
18 |
|
Infection |
47.67 |
6.34 |
49 |
7.81 |
49 |
22.8 |
49 |
2.7 |
42 |
3.66 |
42 |
26 |
49 |
12.8 |
50 |
18.32 |
44 |
33.48 |
50 |
10.72 |
50 |
16.55 |
48 |
30.13 |
50 |
|
Infection(subpixel) |
47.08 |
6.74 |
50 |
8.25 |
50 |
24.86 |
50 |
2.61 |
41 |
3.54 |
41 |
25.96 |
48 |
12.66 |
49 |
18.19 |
43 |
33.1 |
49 |
10.63 |
49 |
16.49 |
46 |
29.82 |
49 |
|
Layered |
21.5 |
1.28 |
23 |
1.45 |
10 |
6.84 |
24 |
0.26 |
16 |
0.48 |
18 |
3.58 |
16 |
4.51 |
20 |
9.33 |
24 |
10.4 |
18 |
3.82 |
30 |
11.26 |
31 |
9.59 |
28 |
|
Layered(subpixel) |
22.17 |
1.5 |
28 |
1.79 |
20 |
7.95 |
28 |
0.23 |
15 |
0.45 |
16 |
3.21 |
15 |
4.22 |
19 |
9.06 |
23 |
10.11 |
14 |
3.81 |
29 |
11.31 |
32 |
9.58 |
27 |
|
MultiCamGC |
19.33 |
1.01 |
7 |
1.66 |
15 |
5.21 |
7 |
0.16 |
11 |
0.38 |
12 |
1.7 |
7 |
7.46 |
37 |
10.67 |
27 |
13.82 |
33 |
3.55 |
27 |
10.21 |
25 |
9.29 |
24 |
|
MultiCamGC(subpixel) |
20.67 |
1.06 |
10 |
1.75 |
18 |
5.47 |
9 |
0.16 |
12 |
0.38 |
13 |
1.7 |
8 |
7.49 |
38 |
10.66 |
26 |
13.87 |
34 |
3.58 |
28 |
10.24 |
26 |
9.35 |
26 |
|
RealtimeBP |
22.5 |
1.25 |
22 |
3.04 |
29 |
6.66 |
21 |
0.63 |
24 |
1.53 |
26 |
7.68 |
30 |
5.68 |
28 |
8.27 |
18 |
10.18 |
15 |
2.9 |
16 |
9.11 |
21 |
8.27 |
20 |
|
RealtimeBP(subpixel) |
22.67 |
1.37 |
26 |
3.25 |
31 |
7.3 |
27 |
0.62 |
23 |
1.46 |
25 |
7.65 |
29 |
5.59 |
27 |
8.17 |
17 |
9.9 |
13 |
2.88 |
15 |
9.06 |
20 |
8.22 |
19 |
|
RealTimeGPU |
28.17 |
1.34 |
25 |
3.27 |
33 |
7.17 |
26 |
1.02 |
31 |
1.9 |
32 |
12.43 |
40 |
3.9 |
16 |
8.65 |
22 |
10.38 |
17 |
4.37 |
33 |
10.82 |
28 |
12.29 |
35 |
|
RealTimeGPU(subpixel) |
28.42 |
1.55 |
29 |
3.63 |
34 |
8.24 |
30 |
0.91 |
29 |
1.73 |
29 |
10.96 |
39 |
3.81 |
14 |
8.53 |
20 |
10.18 |
16 |
4.43 |
34 |
10.94 |
30 |
12.42 |
37 |
|
RegionTreeDP |
11.75 |
1.2 |
15 |
1.43 |
9 |
6.01 |
13 |
0.09 |
2 |
0.3 |
8 |
1.11 |
2 |
4.22 |
17 |
6.09 |
10 |
10.69 |
20 |
2.98 |
17 |
8.1 |
13 |
7.31 |
15 |
|
RegionTreeDP(subpixel) |
12.67 |
1.24 |
19 |
1.47 |
12 |
6.23 |
17 |
0.08 |
1 |
0.28 |
5 |
1.02 |
1 |
4.22 |
18 |
6.02 |
9 |
10.64 |
19 |
3.08 |
19 |
8.23 |
16 |
7.57 |
16 |
|
ReliabilityDP |
31.33 |
1.21 |
17 |
3.18 |
30 |
6.49 |
20 |
1.05 |
33 |
2.03 |
36 |
8.27 |
34 |
5.17 |
24 |
10.68 |
28 |
11.81 |
25 |
9.05 |
47 |
16.05 |
43 |
14.31 |
39 |
|
ReliabilityDP(subpixel) |
31.08 |
1.24 |
20 |
3.25 |
32 |
6.67 |
22 |
1.01 |
30 |
1.97 |
35 |
7.95 |
31 |
5.08 |
22 |
10.58 |
25 |
11.62 |
24 |
9.33 |
48 |
16.32 |
44 |
14.64 |
40 |
|
Segm+visib |
10.83 |
1.14 |
12 |
1.37 |
6 |
6.09 |
14 |
0.35 |
18 |
0.48 |
17 |
4.16 |
19 |
2.39 |
6 |
3.82 |
4 |
6.35 |
6 |
2.36 |
11 |
6.7 |
6 |
6.89 |
11 |
|
Segm+visib(subpixel) |
10.67 |
1.15 |
13 |
1.41 |
7 |
6.13 |
15 |
0.34 |
17 |
0.45 |
15 |
3.96 |
17 |
2.32 |
5 |
3.75 |
3 |
6.09 |
5 |
2.36 |
12 |
6.71 |
7 |
6.89 |
12 |
|
SegTreeDP |
14.92 |
1.38 |
27 |
1.88 |
21 |
7.11 |
25 |
0.15 |
10 |
0.23 |
3 |
1.86 |
10 |
5.4 |
26 |
8.64 |
21 |
11.54 |
23 |
2.03 |
5 |
5.33 |
1 |
6.13 |
7 |
|
SegTreeDP(subpixel) |
15.5 |
1.6 |
30 |
2.14 |
22 |
8.25 |
31 |
0.14 |
9 |
0.23 |
4 |
1.84 |
9 |
5.21 |
25 |
8.43 |
19 |
10.98 |
21 |
2.07 |
6 |
5.39 |
2 |
6.26 |
8 |
|
SemiGlob |
19.5 |
2.01 |
35 |
2.52 |
25 |
9.15 |
35 |
0.36 |
19 |
0.68 |
20 |
4.19 |
22 |
3.46 |
12 |
6.55 |
14 |
9.26 |
12 |
2.38 |
13 |
8.15 |
14 |
7 |
13 |
|
SemiGlob(subpixel) |
19.58 |
2.12 |
36 |
2.7 |
28 |
9.69 |
36 |
0.36 |
20 |
0.6 |
19 |
4.1 |
18 |
3.39 |
11 |
6.44 |
13 |
9.06 |
11 |
2.42 |
14 |
8.18 |
15 |
7.14 |
14 |
|
SO |
45.33 |
4.23 |
43 |
6.21 |
43 |
10.71 |
39 |
5.14 |
48 |
6.58 |
48 |
16.97 |
45 |
11.27 |
46 |
20.22 |
48 |
18.56 |
44 |
8.76 |
46 |
18.78 |
50 |
16.08 |
44 |
|
SO(subpixel) |
44.67 |
4.34 |
44 |
6.41 |
44 |
11.26 |
40 |
4.62 |
46 |
6 |
47 |
15.17 |
43 |
10.79 |
45 |
19.77 |
47 |
18.27 |
43 |
8.55 |
45 |
18.63 |
49 |
15.84 |
43 |
|
SSD+MF |
45.42 |
4.7 |
45 |
6.48 |
45 |
21.93 |
46 |
3.41 |
44 |
4.63 |
44 |
10.73 |
38 |
12.03 |
48 |
20.42 |
50 |
24.24 |
46 |
7.33 |
44 |
16.5 |
47 |
20.29 |
48 |
|
SSD+MF(subpixel) |
45 |
4.82 |
46 |
6.65 |
47 |
22.55 |
48 |
3.4 |
43 |
4.54 |
43 |
10.64 |
37 |
11.96 |
47 |
20.3 |
49 |
24.16 |
45 |
7.28 |
43 |
16.48 |
45 |
20.23 |
47 |
|
STICA |
44.83 |
4.95 |
47 |
6.6 |
46 |
18.35 |
45 |
4.69 |
47 |
5.89 |
46 |
27.25 |
50 |
10.54 |
44 |
17.23 |
42 |
25.76 |
48 |
6.36 |
41 |
13.84 |
36 |
19.14 |
46 |
|
STICA(subpixel) |
44 |
5.92 |
48 |
7.7 |
48 |
22.17 |
47 |
4.16 |
45 |
5.28 |
45 |
24.19 |
47 |
10.18 |
43 |
16.86 |
39 |
24.85 |
47 |
6.27 |
39 |
13.71 |
35 |
18.88 |
45 |
|
SymBP+occ |
9.83 |
0.7 |
1 |
1.37 |
5 |
3.77 |
1 |
0.14 |
7 |
0.29 |
6 |
1.99 |
11 |
2.65 |
8 |
4.48 |
8 |
8.42 |
10 |
3.26 |
23 |
8.39 |
17 |
8.39 |
21 |
|
SymBP+occ(subpixel) |
10.75 |
0.78 |
2 |
1.47 |
11 |
4.19 |
2 |
0.14 |
8 |
0.29 |
7 |
1.99 |
12 |
2.57 |
7 |
4.38 |
7 |
8.21 |
9 |
3.3 |
24 |
8.5 |
18 |
8.5 |
22 |
|
TensorVoting |
25 |
1.2 |
16 |
2.18 |
23 |
5.85 |
12 |
0.68 |
25 |
1.18 |
23 |
6.69 |
25 |
7.21 |
35 |
14.4 |
35 |
17.5 |
39 |
3.12 |
21 |
9.78 |
23 |
9.2 |
23 |
|
TensorVoting(subpixel) |
27.17 |
1.31 |
24 |
2.29 |
24 |
6.47 |
19 |
0.7 |
26 |
1.19 |
24 |
6.98 |
26 |
7.25 |
36 |
14.43 |
36 |
17.61 |
40 |
3.17 |
22 |
9.85 |
24 |
9.33 |
25 |
|
TreeDP |
34.67 |
1.73 |
32 |
2.55 |
26 |
8.82 |
32 |
1.21 |
39 |
1.89 |
30 |
7.35 |
27 |
8.8 |
39 |
17.2 |
40 |
17.19 |
37 |
5.57 |
38 |
14.1 |
38 |
12.46 |
38 |
|
TreeDP(subpixel) |
34.92 |
1.76 |
33 |
2.57 |
27 |
8.96 |
34 |
1.21 |
40 |
1.89 |
31 |
7.35 |
28 |
8.81 |
40 |
17.22 |
41 |
17.13 |
35 |
5.54 |
37 |
14.07 |
37 |
12.4 |
36 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|