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  
C-SemiGlob(subpixel) 5.25 12.16 11 12.82 12 16.27 9 2.9 3 3.38 2 9.47 7 10.32 3 17.9 7 22.93 3 5.55 4 11.51 1 12.45 1
C-SemiGlob 7.75 13.92 17 14.71 16 18.88 25 3.3 6 3.82 4 10.95 10 9.82 1 17.43 5 22.76 2 5.37 3 11.69 2 12.77 2
AdaptingBP(subpixel) 9.17 17.41 20 17.73 20 17.01 11 4.46 13 4.71 10 7.38 2 12.74 9 16.52 3 25.77 7 6.04 7 12.08 4 13.35 4
SemiGlob(subpixel) 9.83 10.6 9 11.4 9 18.87 24 4.19 11 4.94 13 14.43 16 11.64 6 19.14 10 26.54 10 5.11 2 12.09 5 13.29 3
Segm+visib(subpixel) 11.17 12.46 12 12.71 11 15.82 7 6.99 24 7.75 23 17.45 23 10.3 2 12.9 1 22.42 1 7.44 12 12.5 6 16.49 12
DoubleBP(subpixel) 11.33 17.69 21 18.08 21 16.04 8 4.46 14 4.8 11 8.25 5 11.9 7 17.49 6 23.9 5 8.08 14 14.1 13 16.49 11
SemiGlob 12 13.42 15 14.3 15 20.35 29 4.55 15 5.38 16 15.7 19 10.96 5 18.48 8 26.07 8 4.93 1 12.54 7 13.51 6
AdaptingBP 12.58 19.06 27 19.34 24 17.35 13 4.84 18 5.08 15 7.84 3 12.76 10 16.67 4 26.31 9 7.02 10 13.15 11 13.99 7
Segm+visib 14.67 12.69 13 12.93 13 15.81 6 10.4 34 11.01 33 19.49 27 10.96 4 13.2 2 23.7 4 8.12 15 13.11 10 17.29 15
SymBP+occ(subpixel) 14.92 20.55 35 21.16 33 18.59 20 4.1 10 4.36 9 7.35 1 13.2 13 18.63 9 29.09 13 7.92 13 14.3 14 16.05 9
AdaptWeight(subpixel) 14.92 16.12 19 16.55 19 17.1 12 4.34 12 4.91 12 12.62 12 14.29 16 20.8 15 30.82 17 9.3 19 15.11 16 16.42 10
TensorVoting(subpixel) 16.33 24.47 45 25.14 43 21.12 31 1.52 1 2.3 1 12.84 13 13.11 12 20.41 14 30.5 15 5.58 5 12.96 8 14.87 8
SegTreeDP(subpixel) 17.42 24.31 43 24.78 41 23.02 39 3.2 5 3.51 3 8 4 16.6 23 23.12 23 29.35 14 5.97 6 11.77 3 13.44 5
GenModel(subpixel) 17.58 9.21 8 11.31 8 19.97 28 3.59 9 4.99 14 22.25 37 14.17 15 22.11 20 30.64 16 9.09 17 19.02 26 16.51 13
RegionTreeDP(subpixel) 18.17 19.78 32 19.88 27 18.37 18 3.42 8 3.97 6 8.26 6 14.52 18 20.17 12 28.59 12 13.01 30 18.53 24 19.84 25
DoubleBP 18.42 18.66 25 19.11 23 15.76 5 7.82 27 8.22 25 11.32 11 14.4 17 19.88 11 24.35 6 11.77 26 17.65 22 19.67 23
GC+occ(subpixel) 19.08 6.63 3 7.53 2 14.39 1 7.75 25 8.39 26 14.34 15 21.43 32 28.14 32 33.69 29 9.83 20 16.97 20 19.75 24
GenModel 20.25 7.89 6 10.01 7 18.52 19 4.59 16 6.03 18 23.48 40 14.76 20 22.75 22 31.75 22 10.2 21 20.2 31 19.03 21
CostRelax(subpixel) 21.17 24.03 41 25.05 42 31.6 43 2.82 2 3.92 5 20.67 29 12.94 11 20.86 16 33.08 27 7 9 13.67 12 17.7 17
CostRelax 21.58 26.25 48 27.33 48 33.46 44 2.92 4 4.06 7 20.8 31 12.28 8 20.24 13 32.4 25 6.33 8 13.09 9 16.72 14
RealtimeBP(subpixel) 21.92 19.45 29 21.04 31 21.69 33 4.72 17 6 17 15.6 18 16.33 22 22.12 21 31.32 19 9.01 16 16.44 18 19.27 22
TensorVoting 22.08 25.46 47 26.19 47 21.23 32 3.32 7 4.12 8 14.58 17 14.61 19 21.78 18 33.26 28 7.05 11 14.46 15 17.37 16
SymBP+occ 22.42 20.74 36 21.57 35 19.51 27 5.96 20 6.27 19 10.19 8 15.66 21 20.92 17 31.71 21 11.4 24 17.54 21 18.94 20
MultiCamGC(subpixel) 23.08 6.98 4 7.86 4 15.43 3 13.87 45 14.39 42 16.61 21 22.17 35 28.51 34 35.74 35 9.12 18 16.06 17 18.65 19
GC+occ 24 6.1 1 7.11 1 14.55 2 10.71 36 11.33 34 16.91 22 23.68 37 30.09 37 34.56 33 12.25 29 19.2 27 21.9 29
RealTimeGPU(subpixel) 24.67 20.24 34 22.05 38 21.7 34 5.71 19 6.89 21 21.6 33 14.03 14 22.05 19 27.63 11 10.23 22 18.04 23 21.33 28
Layered(subpixel) 25 11.82 10 12.32 10 19.23 26 9.87 32 10.65 32 20.73 30 16.88 24 23.17 24 31.78 23 12.15 28 20.13 30 23.1 31
AdaptWeight 25.58 18.1 24 18.8 22 18.59 21 7.77 26 8.4 27 15.83 20 17.57 25 23.93 25 34.03 31 14 32 19.67 28 20.63 26
SegTreeDP 26.33 25.42 46 25.96 44 24.6 41 6.23 21 6.59 20 10.79 9 19.71 29 25.87 28 30.86 18 10.86 23 16.48 19 17.73 18
MultiCamGC 27 6.56 2 7.55 3 15.68 4 16.4 48 16.83 48 17.57 25 24.33 39 30.43 38 36.94 38 12.04 27 18.76 25 21.15 27
GC(subpixel) 29.25 7.93 7 9.97 6 17.98 16 10.01 33 11.53 35 18.6 26 29.98 46 37.22 47 38.38 40 13.27 31 23.13 34 23.07 30
ReliabilityDP(subpixel) 29.5 17.9 23 19.61 25 16.68 10 6.62 23 7.96 24 21.89 36 21.83 33 28.55 35 34.12 32 17.6 40 24.43 37 26.07 36
RegionTreeDP 29.75 20.95 37 21.12 32 18.33 17 9.08 31 9.74 30 13.79 14 19.72 30 24.76 26 32.12 24 19.74 44 24.76 39 25.36 33
DP(subpixel) 31.17 14.17 18 15.14 17 18.68 23 13.42 43 14.4 43 28.15 43 21.09 31 28.18 33 31.65 20 14.12 33 22.46 33 26.36 37
RealtimeBP 31.42 19.94 33 21.62 36 22.16 35 8.68 30 9.93 31 20.12 28 19.24 26 24.83 27 33.82 30 14.22 34 21.25 32 25.9 35
Layered 32.25 12.95 14 13.51 14 18.67 22 15.6 47 16.33 46 21.78 35 22.16 34 27.83 31 35.38 34 16.91 38 24.53 38 25.83 34
GC 32.42 7.71 5 9.82 5 17.4 14 13.48 44 14.96 45 20.91 32 31.45 48 38.52 48 38.88 41 15.95 35 25.54 40 24.68 32
STICA(subpixel) 35.58 19.61 31 21.43 34 37.15 45 10.7 35 12.1 36 40.24 49 19.45 27 27.31 30 44.85 43 11.7 25 19.77 29 32.34 43
RealTimeGPU 36.58 24.21 42 26.02 45 24.94 42 10.95 37 12.12 37 27.58 42 19.62 28 27.01 29 33 26 16.55 37 23.75 35 29.52 39
TreeDP(subpixel) 36.67 21.22 38 21.86 37 22.62 37 6.23 22 7.1 22 17.52 24 29.57 45 36.43 46 44.89 44 18.68 43 26.34 42 30.08 40
SO(subpixel) 36.75 13.47 16 15.47 18 20.87 30 13.39 42 14.84 44 29.11 44 28.37 44 35.8 44 37.8 39 17.12 39 26.56 43 28.71 38
ReliabilityDP 37.5 18.99 26 20.73 30 17.54 15 12.72 40 13.96 40 26.13 41 26.32 42 32.49 42 36.76 37 23.69 48 29.89 48 31.48 41
Infection(subpixel) 38.08 19.27 28 20.65 29 37.4 46 7.84 28 9.06 28 33.65 46 22.2 36 29.81 36 53.32 49 17.93 41 25.72 41 44.4 49
SSD+MF(subpixel) 41.75 26.35 49 27.83 49 37.61 47 7.9 29 9.28 29 22.74 38 24.52 41 32.13 41 46.96 46 18.02 42 26.58 44 37.85 46
DP 42.17 19.58 30 20.59 28 22.84 38 23.49 50 24.3 49 32.85 45 30.04 47 36.28 45 36.09 36 22.04 47 29.64 47 33.75 44
TreeDP 42.5 22.42 40 23.05 39 22.33 36 12.08 39 12.92 39 21.72 34 32.39 49 38.95 49 45.59 45 23.7 49 30.77 49 31.74 42
SO 43.42 17.85 22 19.81 26 23.37 40 23.14 49 24.44 50 34.59 47 36.3 50 42.87 50 41.41 42 23.71 50 32.4 50 34.42 45
Infection 43.42 22.13 39 23.49 40 37.63 48 11.13 38 12.33 38 37.32 48 24.34 40 31.71 40 56.37 50 20.16 45 27.8 45 48.17 50
STICA 44 24.33 44 26.1 46 44.76 50 15.24 46 16.55 47 46.35 50 23.97 38 31.28 39 50.41 48 15.95 36 23.75 36 39.5 48
SSD+MF 45.17 28.53 50 29.99 50 38.06 49 12.83 41 14.2 41 23.41 39 28.16 43 35.42 43 48.65 47 21.08 46 29.42 46 38.61 47