This table lists the benchmark results for the high-res multi-view scenario.
The following metrics are evaluated:
Accuracy [%]: The fraction of the reconstruction which is closer to the ground truth than the evaluation threshold distance (*). Larger is better.Completeness [%]: The fraction of the ground truth which is closer to the reconstruction than the evaluation threshold distance (*). Larger is better.F1 score [%]: The harmonic mean of accuracy and completeness, used to rank methods based on both metrics. Larger is better.Time [s]: The runtime of the method. Smaller is better.
(*) For exact definitions, detailing how potentially incomplete ground truth is taken into account, see our paper .
The datasets are grouped into different categories, and result averages are computed for a category and method if results of the method are available for all datasets within the category.
Note that the category "all" includes both the high-res multi-view and the low-res many-view scenarios.
Methods with suffix _ROB may participate in the Robust Vision Challenge .
training datasets , ground truth and accuracy / completeness visualizations are also available. The visualizations may not work with mobile browsers.
Set : Test
Metric : Completeness [%]
Tolerance : 2cm
Method
Info all high-res indoor outdoor botani. boulde. bridge door exhibi. lectur. living. lounge observ. old co. statue terrac.
DeepPCF-MVS 81.17 1 89.72 1 91.38 1 84.72 9 93.00 5 58.16 16 96.72 1 94.41 2 86.50 1 90.25 1 97.83 1 75.46 1 98.67 2 92.78 1 95.49 1 97.32 1 MG-MVS 87.11 2 86.27 2 89.62 1 97.79 1 76.27 1 94.96 5 94.49 1 78.74 6 83.87 2 92.94 5 64.34 2 96.94 9 75.19 5 94.09 3 95.66 3 DeepC-MVS_fast 78.06 2 86.36 3 85.99 3 87.47 3 94.20 4 68.14 4 95.35 3 93.41 7 81.60 3 78.05 5 95.84 2 61.79 4 98.41 5 79.95 4 93.76 4 95.86 2 DeepC-MVS 77.92 3 86.03 4 85.84 4 86.61 4 90.32 10 67.05 6 94.57 6 93.48 5 81.54 4 78.87 4 95.06 4 64.03 3 98.49 4 83.07 3 91.59 7 94.30 7 MAR-MVS 84.18 5 83.43 5 86.44 6 96.25 3 65.93 9 94.28 7 94.27 4 74.41 8 79.16 3 95.61 3 53.99 6 98.88 1 69.62 9 93.26 5 94.50 6 Zhenyu Xu, Yiguang Liu, Xuelei Shi, Ying Wang, Yunan Zheng: MARMVS: Matching Ambiguity Reduced Multiple View Stereo for Efficient Large Scale Scene Reconstruction . CVPR 2020 CLD-MVS 82.73 6 82.35 6 83.86 11 87.90 12 67.65 5 95.45 2 92.18 9 85.06 2 72.58 6 92.27 10 52.46 7 95.78 12 84.18 2 79.06 13 88.16 14 Zhaoxin Li, Wangmeng Zuo, Zhaoqi Wang, Lei Zhang: Confidence-based Large-scale Dense Multi-view Stereo . IEEE Transaction on Image Processing, 2020 3Dnovator 73.91 4 82.69 7 80.82 7 88.31 2 89.57 11 71.26 3 92.60 10 94.39 3 78.84 5 67.89 11 92.48 8 48.42 10 98.52 3 68.80 11 94.40 2 95.15 5 3Dnovator+ 73.60 5 82.10 8 80.60 8 86.60 5 90.89 8 66.80 7 95.20 4 93.44 6 74.05 9 67.42 12 92.49 7 49.46 8 97.65 7 70.80 7 91.68 6 95.33 4 PCF-MVS 73.15 6 79.29 9 77.63 9 84.29 10 86.06 14 65.96 8 87.03 21 91.10 10 69.86 12 69.79 9 90.64 13 57.54 5 96.59 10 64.37 14 82.29 10 90.32 11 Andreas Kuhn, Shan Lin, Oliver Erdler: Plane Completion and Filtering for Multi-View Stereo Reconstruction . GCPR 2019 AdaColmap 78.94 10 77.00 10 84.76 8 96.34 2 65.86 10 92.66 9 87.97 17 62.18 16 70.56 7 92.37 9 43.53 12 97.35 8 64.50 13 82.86 9 91.05 9 OpenMVS 70.45 8 78.54 11 75.92 11 86.41 7 85.93 15 71.68 2 92.74 8 92.51 8 66.49 13 64.56 14 91.96 11 43.88 11 98.10 6 54.61 17 90.65 8 89.44 13 AP-MVS 77.00 12 75.82 12 80.55 14 83.08 23 57.61 19 88.10 17 88.29 16 73.78 10 68.83 10 91.64 12 43.15 13 93.45 21 69.47 10 76.03 15 90.60 10 ACMP 71.68 7 75.58 13 74.23 13 79.62 17 84.97 18 59.64 14 90.80 11 89.07 14 70.39 11 62.95 16 87.30 17 38.28 15 93.87 19 72.89 6 71.45 18 85.36 17 Qingshan Xu and Wenbing Tao: Planar Prior Assisted PatchMatch Multi-View Stereo . AAAI 2020 PLC 68.80 11 75.23 14 73.68 14 79.86 16 92.93 6 58.68 15 90.64 12 88.30 15 60.90 17 64.43 15 90.53 14 42.38 14 94.57 14 56.52 16 76.54 14 86.33 15 Jie Liao, Yanping Fu, Qingan Yan, Chunxia xiao: Pyramid Multi-View Stereo with Local Consistency . Pacific Graphics 2019 TAPA-MVS 70.22 9 74.94 15 73.53 15 79.17 18 90.40 9 52.07 24 89.19 15 89.61 13 62.69 15 70.07 8 92.67 6 48.89 9 94.32 15 38.26 25 79.97 11 91.12 8 Andrea Romanoni, Matteo Matteucci: TAPA-MVS: Textureless-Aware PAtchMatch Multi-View Stereo . ICCV 2019 ACMM 69.62 10 74.34 16 72.73 16 79.17 18 84.25 21 57.87 17 90.36 13 89.93 12 63.17 14 65.64 13 86.04 18 37.79 17 94.10 17 65.89 12 71.52 17 85.55 16 Qingshan Xu and Wenbing Tao: Multi-Scale Geometric Consistency Guided Multi-View Stereo . CVPR 2019 PVSNet 68.08 12 71.81 17 68.32 18 82.27 12 84.68 19 62.31 13 88.68 16 90.31 11 75.84 7 57.93 17 80.65 24 37.85 16 94.19 16 69.94 8 29.05 31 90.31 12 F-COLMAP 70.66 18 68.44 17 77.32 21 86.37 13 55.91 22 88.00 19 86.32 18 56.94 23 57.28 18 88.07 15 33.58 21 92.49 24 51.02 18 68.37 21 83.55 18 MSDG 69.54 19 65.73 20 80.96 13 85.11 17 63.71 11 84.19 23 83.28 23 56.95 22 54.50 21 84.03 19 31.50 22 96.03 11 42.87 21 69.13 19 83.14 19 LS3D 69.17 20 66.40 19 77.50 20 91.92 7 56.12 21 85.12 22 80.37 25 46.96 27 56.50 19 87.51 16 37.25 18 93.71 20 32.52 28 79.40 12 82.68 20 ACMH 63.93 14 68.62 21 64.81 21 80.03 15 85.22 16 63.25 12 87.72 20 84.66 20 60.83 18 51.57 25 79.43 26 27.29 23 94.96 13 41.76 22 64.84 23 81.88 21 Qingshan Xu and Wenbing Tao: Multi-Scale Geometric Consistency Guided Multi-View Stereo . CVPR 2019 ACMH+ 65.35 13 67.65 22 64.55 22 76.96 22 84.59 20 57.10 20 88.08 18 80.79 24 58.59 21 53.00 24 81.09 23 26.63 24 92.95 23 46.51 19 61.69 24 80.82 23 CMPMVS 48.56 18 66.77 23 64.41 23 73.84 25 70.65 28 50.31 26 77.79 25 85.73 19 45.54 28 44.76 27 82.14 21 35.40 19 90.14 26 63.18 15 74.54 16 81.07 22 M. Jancosek, T. Pajdla: Multi-View Reconstruction Preserving Weakly-Supported Surfaces . CVPR 2011 OpenMVS_ROB 61.12 15 66.39 24 62.92 25 76.80 23 76.51 25 57.77 18 89.22 14 83.41 22 55.48 24 53.86 23 77.84 27 26.28 25 93.95 18 34.90 26 68.76 20 78.68 25 LTVRE_ROB 59.60 16 66.27 25 63.54 24 74.45 24 84.00 22 51.55 25 67.08 27 83.53 21 58.78 20 54.94 20 80.31 25 34.54 20 93.23 22 40.64 24 68.03 22 78.58 26 Andreas Kuhn, Heiko Hirschmüller, Daniel Scharstein, Helmut Mayer: A TV Prior for High-Quality Scalable Multi-View Stereo Reconstruction . International Journal of Computer Vision 2016 COLMAP_ROB 57.96 17 62.98 26 59.65 26 72.98 26 81.44 24 53.00 23 83.75 24 75.53 27 48.34 26 48.81 26 81.40 22 24.14 26 90.30 25 32.95 27 60.52 26 75.65 27 Johannes L. Schönberger, Enliang Zheng, Marc Pollefeys, Jan-Michael Frahm: Pixelwise View Selection for Unstructured Multi-View Stereo . ECCV 2016 LF4IMVS 54.01 27 52.12 27 59.69 28 62.41 29 39.91 28 68.59 26 68.28 31 42.96 29 44.55 28 75.18 28 14.09 28 68.39 29 41.36 23 51.68 28 70.78 28 FPMVS 45.64 28 43.10 28 53.23 30 51.42 31 36.46 30 64.97 29 71.91 29 29.13 31 27.53 29 61.55 29 9.83 29 65.01 31 16.00 33 55.58 27 58.22 30 ANet_high 40.27 29 35.20 29 55.47 29 34.74 34 34.47 31 63.84 30 71.56 30 48.42 25 18.80 30 41.08 31 9.52 30 64.45 32 20.18 30 8.66 36 67.49 29 Gipuma 34.91 30 31.44 30 45.30 32 70.99 27 39.64 29 19.85 35 72.56 28 20.10 34 16.16 32 21.47 35 5.08 32 71.16 28 13.07 34 43.70 29 25.08 36 S. Galliani, K. Lasinger, K. Schindler: Massively Parallel Multiview Stereopsis by Surface Normal Diffusion . ICCV 2015 PNet_i23d 32.77 31 29.98 31 41.11 34 48.05 32 29.17 32 65.82 28 50.02 33 21.42 32 14.74 33 37.19 33 1.11 35 55.11 34 19.75 31 11.77 34 39.06 32 PMVS 26.43 19 31.84 32 28.16 32 42.89 33 25.87 37 27.58 34 50.92 31 49.78 34 21.37 33 14.17 34 40.81 32 2.01 33 66.62 30 9.61 36 38.88 30 34.49 35 Y. Furukawa, J. Ponce: Accurate, dense, and robust multiview stereopsis . PAMI (2010) wuykxyi23d 29.03 33 23.09 33 46.84 31 31.67 36 28.82 33 43.46 32 57.72 32 14.39 35 7.52 36 20.84 36 0.64 36 60.29 33 21.57 29 10.04 35 51.40 31 MVE 24.84 20 24.35 34 19.77 34 38.09 35 34.56 35 26.92 35 26.57 33 38.87 35 11.73 36 11.37 35 27.44 34 1.37 34 50.42 35 11.41 35 14.60 33 36.93 33 Simon Fuhrmann, Fabian Langguth, Michael Goesele: MVE - A Multi-View Reconstruction Environment . EUROGRAPHICS Workshops on Graphics and Cultural Heritage (2014) wuyk23d 11.30 35 10.95 35 12.33 37 48.05 32 19.89 37 25.89 34 1.92 37 3.58 37 3.12 37 1.37 37 0.64 36 15.77 37 6.23 37 7.77 37 1.35 37 ITE_SJBPF 70.43 27 74.44 26 47.06 27 77.32 26 60.16 19 54.04 22 83.53 20 23.30 27 84.01 27 43.07 20 61.58 25 80.21 24 DeepMVS_CX 34.71 36 51.45 30 24.73 36 28.48 36 31.46 30 17.49 31 52.75 30 5.80 31 42.60 36 18.18 32 19.42 32 36.81 34
