This table lists the benchmark results for the high-res multi-view scenario. The following metrics are evaluated:

(*) 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.

Click a dataset result cell to show a visualization of the reconstruction. For training datasets, ground truth and accuracy / completeness visualizations are also available. The visualizations may not work with mobile browsers.




Method Infoallhigh-res
multi-view
indooroutdoorbotani.boulde.bridgedoorexhibi.lectur.living.loungeobserv.old co.statueterrac.
sort bysort bysort bysort bysort bysort bysort bysort bysort bysorted bysort bysort bysort bysort bysort bysort by
HSP-MVS90.38 291.89 185.84 6992.83 5464.03 16593.06 7394.52 2182.19 1993.65 196.15 1085.89 197.19 5691.02 797.75 196.29 15
TSAR-MVS + MP.88.11 1088.64 986.54 4691.73 7668.04 6090.36 16793.55 4582.89 1491.29 292.89 8672.27 1096.03 10087.99 1994.77 1395.54 30
MVS_030589.30 789.66 788.24 1394.37 2468.90 4296.56 593.37 5486.96 490.37 395.68 1762.66 7099.01 393.05 193.92 2596.80 7
DeepPCF-MVS81.17 189.72 591.38 384.72 10393.00 5158.16 24496.72 394.41 2686.50 590.25 497.83 175.46 598.67 1192.78 295.49 797.32 1
xiu_mvs_v2_base87.92 1387.38 2189.55 791.41 8776.43 295.74 1193.12 6683.53 1389.55 595.95 1253.45 16397.68 3191.07 692.62 4194.54 65
PS-MVSNAJ88.14 987.61 1689.71 492.06 6876.72 195.75 1093.26 5883.86 1189.55 596.06 1153.55 15897.89 2991.10 593.31 3494.54 65
CNVR-MVS90.32 390.89 488.61 1196.76 470.65 1896.47 694.83 1384.83 889.07 796.80 270.86 1499.06 292.64 395.71 596.12 17
HPM-MVS++89.37 689.95 687.64 1995.10 1768.23 5895.24 2194.49 2382.43 1788.90 896.35 571.89 1398.63 1288.76 1796.40 296.06 18
APDe-MVS87.54 1687.84 1386.65 4196.07 966.30 12194.84 3193.78 3569.35 18988.39 996.34 667.74 2897.66 3590.62 893.44 3396.01 21
EPNet87.84 1488.38 1086.23 6093.30 4466.05 12595.26 2094.84 1287.09 388.06 1094.53 5166.79 3397.34 4983.89 4791.68 5395.29 37
Wanjuan Su, Wenbing Tao: Efficient Edge-Preserving Multi-View Stereo Network for Depth Estimation. AAAI 2023
MVS_test032684.44 5183.92 5186.00 6491.53 8367.10 8392.43 9594.41 2684.87 788.04 1192.75 8949.47 19397.10 6175.66 9686.16 9793.79 95
SD-MVS87.49 1787.49 1887.50 2393.60 3968.82 4593.90 5292.63 8376.86 7187.90 1295.76 1466.17 3697.63 3789.06 1491.48 5796.05 19
MVS_dtu83.63 6682.83 6686.02 6290.57 9767.50 7490.51 16389.84 17984.43 987.88 1393.73 6948.69 20396.94 7475.60 9784.23 11493.61 98
canonicalmvs86.85 2786.25 3088.66 1091.80 7571.92 1093.54 6291.71 11580.26 3187.55 1495.25 3163.59 6296.93 7788.18 1884.34 11097.11 3
旧先验292.00 10959.37 26487.54 1593.47 18575.39 99
MVSFormer83.75 6482.88 6486.37 5589.24 12071.18 1489.07 19090.69 14765.80 22287.13 1694.34 5964.99 4892.67 20572.83 11391.80 5195.27 39
lupinMVS87.74 1587.77 1487.63 2189.24 12071.18 1496.57 492.90 7482.70 1687.13 1695.27 2964.99 4895.80 10689.34 1191.80 5195.93 23
alignmvs87.28 1986.97 2488.24 1391.30 8871.14 1695.61 1593.56 4479.30 3887.07 1895.25 3168.43 1996.93 7787.87 2084.33 11196.65 9
NCCC89.07 889.46 887.91 1596.60 569.05 3896.38 794.64 2084.42 1086.74 1996.20 866.56 3598.76 1089.03 1594.56 1895.92 24
APD-MVScopyleft85.93 3785.99 3285.76 7395.98 1165.21 13993.59 6092.58 8566.54 21786.17 2095.88 1363.83 5797.00 6786.39 3192.94 3795.06 48
Yuesong Wang, Zhaojie Zeng and etc.: Adaptive Patch Deformation for Textureless-Resilient Multi-View Stereo. CVPR2023
VNet86.20 3485.65 3987.84 1793.92 3469.99 2595.73 1395.94 178.43 5386.00 2193.07 8058.22 9597.00 6785.22 3884.33 11196.52 13
TSAR-MVS + GP.87.96 1188.37 1186.70 4093.51 4265.32 13795.15 2493.84 3478.17 5585.93 2294.80 4775.80 498.21 2089.38 1088.78 7596.59 11
MCST-MVS91.08 191.46 289.94 297.66 273.37 797.13 195.58 289.33 185.77 2396.26 772.84 999.38 192.64 395.93 497.08 4
DELS-MVS90.05 490.09 589.94 293.14 4973.88 697.01 294.40 2888.32 285.71 2494.91 4474.11 798.91 587.26 2595.94 397.03 5
Christian Sormann, Emanuele Santellani, Mattia Rossi, Andreas Kuhn, Friedrich Fraundorfer: DELS-MVS: Deep Epipolar Line Search for Multi-View Stereo. Winter Conference on Applications of Computer Vision (WACV), 2023
PHI-MVS86.83 2886.85 2786.78 3993.47 4365.55 13495.39 1995.10 971.77 15885.69 2596.52 362.07 7498.77 986.06 3395.60 696.03 20
TEST994.18 2767.28 7794.16 3593.51 4671.75 15985.52 2695.33 2568.01 2397.27 53
train_agg87.21 2187.42 2086.60 4394.18 2767.28 7794.16 3593.51 4671.87 15185.52 2695.33 2568.19 2197.27 5389.09 1294.90 1095.25 42
test_894.19 2667.19 7994.15 3793.42 5171.87 15185.38 2895.35 2468.19 2196.95 73
testdata81.34 17589.02 12457.72 24889.84 17958.65 26785.32 2994.09 6357.03 10693.28 18769.34 14790.56 6893.03 114
test_prior387.38 1887.70 1586.42 5294.71 2167.35 7595.10 2693.10 6775.40 8985.25 3095.61 2067.94 2496.84 7987.47 2294.77 1395.05 49
test_prior295.10 2675.40 8985.25 3095.61 2067.94 2487.47 2294.77 13
agg_prior386.93 2587.08 2386.48 4994.21 2566.95 8994.14 3893.40 5271.80 15684.86 3295.13 3566.16 3797.25 5589.09 1294.90 1095.25 42
ACMMP_Plus86.05 3685.80 3686.80 3891.58 7967.53 7191.79 12293.49 4874.93 9684.61 3395.30 2759.42 8697.92 2786.13 3294.92 994.94 55
jason86.40 3186.17 3187.11 3286.16 17070.54 2095.71 1492.19 9982.00 2484.58 3494.34 5961.86 7695.53 12187.76 2190.89 6395.27 39
jason: jason.
agg_prior187.02 2387.26 2286.28 5994.16 3166.97 8794.08 4193.31 5671.85 15384.49 3595.39 2368.91 1796.75 8388.84 1694.32 2095.13 46
agg_prior94.16 3166.97 8793.31 5684.49 3596.75 83
Regformer-187.24 2087.60 1786.15 6195.14 1565.83 13193.95 4895.12 782.11 2184.25 3795.73 1567.88 2798.35 1885.60 3588.64 7694.26 72
xiu_mvs_v1_base_debu82.16 8481.12 8585.26 8986.42 16468.72 4692.59 9190.44 15273.12 12884.20 3894.36 5438.04 25795.73 11084.12 4486.81 8791.33 142
xiu_mvs_v1_base82.16 8481.12 8585.26 8986.42 16468.72 4692.59 9190.44 15273.12 12884.20 3894.36 5438.04 25795.73 11084.12 4486.81 8791.33 142
xiu_mvs_v1_base_debi82.16 8481.12 8585.26 8986.42 16468.72 4692.59 9190.44 15273.12 12884.20 3894.36 5438.04 25795.73 11084.12 4486.81 8791.33 142
Regformer-287.00 2487.43 1985.71 7695.14 1564.73 14993.95 4894.95 1081.69 2684.03 4195.73 1567.35 3198.19 2285.40 3788.64 7694.20 74
SteuartSystems-ACMMP86.82 2986.90 2586.58 4590.42 9966.38 11896.09 993.87 3377.73 6084.01 4295.66 1863.39 6397.94 2687.40 2493.55 3295.42 31
Skip Steuart: Steuart Systems R&D Blog.
MG-MVS87.11 2286.27 2889.62 597.79 176.27 394.96 3094.49 2378.74 5183.87 4392.94 8364.34 5396.94 7475.19 10094.09 2295.66 26
DeepC-MVS_fast79.48 287.95 1288.00 1287.79 1895.86 1268.32 5495.74 1194.11 3183.82 1283.49 4496.19 964.53 5298.44 1683.42 5094.88 1296.61 10
Andreas Kuhn, Christian Sormann, Mattia Rossi, Oliver Erdler, Friedrich Fraundorfer: DeepC-MVS: Deep Confidence Prediction for Multi-View Stereo Reconstruction. 3DV 2020
Effi-MVS+83.82 6282.76 6886.99 3689.56 11369.40 3491.35 14186.12 25672.59 13583.22 4592.81 8859.60 8596.01 10281.76 5987.80 8295.56 29
CDPH-MVS85.71 4085.46 4086.46 5094.75 2067.19 7993.89 5392.83 7670.90 17283.09 4695.28 2863.62 6097.36 4780.63 6794.18 2194.84 57
MVS_Test84.16 5783.20 6187.05 3491.56 8069.82 2889.99 17592.05 10277.77 5982.84 4786.57 15463.93 5696.09 9774.91 10689.18 7395.25 42
test1287.09 3394.60 2368.86 4392.91 7382.67 4865.44 4497.55 4093.69 3094.84 57
HY-MVS76.49 584.28 5583.36 6087.02 3592.22 6767.74 6584.65 23794.50 2279.15 4282.23 4987.93 14366.88 3296.94 7480.53 6882.20 12596.39 14
LFMVS84.34 5482.73 6989.18 894.76 1973.25 894.99 2991.89 10871.90 14982.16 5093.49 7347.98 20997.05 6282.55 5484.82 10497.25 2
WTY-MVS86.32 3285.81 3587.85 1692.82 5669.37 3595.20 2295.25 582.71 1581.91 5194.73 4867.93 2697.63 3779.55 7282.25 12496.54 12
VDD-MVS83.06 7281.81 7886.81 3790.86 9567.70 6695.40 1891.50 12375.46 8681.78 5292.34 9740.09 24797.13 6086.85 2982.04 12695.60 28
Regformer-385.80 3985.92 3385.46 8094.17 2965.09 14592.95 7695.11 881.13 2781.68 5395.04 3665.82 4198.32 1983.02 5184.36 10892.97 116
MSLP-MVS++86.27 3385.91 3487.35 2692.01 6968.97 4195.04 2892.70 7879.04 4681.50 5496.50 458.98 9296.78 8183.49 4993.93 2496.29 15
Regformer-485.45 4285.69 3884.73 10194.17 2963.23 17992.95 7694.83 1380.66 2981.29 5595.04 3665.12 4698.08 2582.74 5284.36 10892.88 120
UA-Net80.02 11479.65 10281.11 17989.33 11657.72 24886.33 23089.00 21077.44 6581.01 5689.15 13059.33 8795.90 10361.01 21584.28 11389.73 161
PVSNet_BlendedMVS83.38 6783.43 5683.22 13093.76 3567.53 7194.06 4293.61 4279.13 4381.00 5785.14 16863.19 6697.29 5187.08 2673.91 17184.83 229
PVSNet_Blended86.73 3086.86 2686.31 5893.76 3567.53 7196.33 893.61 4282.34 1881.00 5793.08 7863.19 6697.29 5187.08 2691.38 5894.13 80
MP-MVS-pluss85.24 4385.13 4385.56 7791.42 8565.59 13391.54 13492.51 8774.56 9880.62 5995.64 1959.15 8997.00 6786.94 2893.80 2694.07 85
MP-MVS-pluss: MP-MVS-pluss. MP-MVS-pluss
MPTG84.73 4884.47 4685.50 7891.89 7365.16 14091.55 13392.23 9375.32 9180.53 6095.21 3356.06 12297.16 5884.86 4192.55 4394.18 75
MTAPA83.91 6083.38 5985.50 7891.89 7365.16 14081.75 25892.23 9375.32 9180.53 6095.21 3356.06 12297.16 5884.86 4192.55 4394.18 75
PAPM85.89 3885.46 4087.18 2988.20 14272.42 992.41 9692.77 7782.11 2180.34 6293.07 8068.27 2095.02 12578.39 8293.59 3194.09 83
CostFormer82.33 8181.15 8485.86 6889.01 12568.46 5082.39 25593.01 6975.59 8480.25 6381.57 20972.03 1294.96 12779.06 7777.48 15494.16 78
PMMVS81.98 8982.04 7581.78 16789.76 11056.17 25891.13 14990.69 14777.96 5780.09 6493.57 7146.33 22194.99 12681.41 6387.46 8494.17 77
112181.25 9580.05 9584.87 9892.30 6464.31 15987.91 20791.39 12759.44 26379.94 6592.91 8457.09 10497.01 6566.63 16692.81 4093.29 106
sss82.71 7782.38 7283.73 12289.25 11859.58 23192.24 9994.89 1177.96 5779.86 6692.38 9556.70 11397.05 6277.26 8880.86 13294.55 63
新几何184.73 10192.32 6364.28 16191.46 12559.56 26279.77 6792.90 8556.95 10996.57 8863.40 19592.91 3893.34 103
APD-MVS_3200maxsize81.64 9181.32 8382.59 14292.36 6158.74 24191.39 13791.01 14163.35 23779.72 6894.62 5051.82 17496.14 9579.71 7087.93 8192.89 119
MP-MVScopyleft85.02 4584.97 4485.17 9292.60 6064.27 16293.24 6892.27 9273.13 12779.63 6994.43 5261.90 7597.17 5785.00 3992.56 4294.06 86
原ACMM184.42 11093.21 4764.27 16293.40 5265.39 22579.51 7092.50 9158.11 9796.69 8565.27 18293.96 2392.32 130
VDDNet80.50 10478.26 12287.21 2886.19 16969.79 2994.48 3391.31 13060.42 25779.34 7190.91 11138.48 25396.56 8982.16 5581.05 13095.27 39
HFP-MVS84.73 4884.40 4885.72 7493.75 3765.01 14693.50 6393.19 6272.19 14379.22 7294.93 4159.04 9097.67 3281.55 6192.21 4594.49 69
#test#84.98 4684.74 4585.72 7493.75 3765.01 14694.09 4093.19 6273.55 12379.22 7294.93 4159.04 9097.67 3282.66 5392.21 4594.49 69
MAR-MVS84.18 5683.43 5686.44 5196.25 765.93 12894.28 3494.27 3074.41 9979.16 7495.61 2053.99 15398.88 869.62 14493.26 3594.50 68
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
PAPR85.15 4484.47 4687.18 2996.02 1068.29 5591.85 12093.00 7176.59 7679.03 7595.00 3861.59 7797.61 3978.16 8389.00 7495.63 27
MVS_111021_HR86.19 3585.80 3687.37 2593.17 4869.79 2993.99 4693.76 3779.08 4578.88 7693.99 6562.25 7398.15 2385.93 3491.15 6194.15 79
region2R84.36 5384.03 5085.36 8693.54 4164.31 15993.43 6692.95 7272.16 14678.86 7794.84 4656.97 10897.53 4181.38 6492.11 4994.24 73
ACMMPR84.37 5284.06 4985.28 8893.56 4064.37 15793.50 6393.15 6572.19 14378.85 7894.86 4556.69 11497.45 4381.55 6192.20 4794.02 88
UGNet79.87 11778.68 11783.45 12989.96 10561.51 20292.13 10190.79 14476.83 7278.85 7886.33 15738.16 25596.17 9467.93 15687.17 8592.67 122
Wanjuan Su, Qingshan Xu, Wenbing Tao: Uncertainty-guided Multi-view Stereo Network for Depth Estimation. IEEE Transactions on Circuits and Systems for Video Technology, 2022
diffmvs80.18 10978.55 12085.07 9388.56 13266.93 9086.70 22888.62 21770.42 17878.69 8085.26 16656.93 11094.77 13168.68 15383.09 11893.51 100
GG-mvs-BLEND86.53 4891.91 7269.67 3275.02 29294.75 1678.67 8190.85 11277.91 294.56 13972.25 11993.74 2895.36 33
XVS83.87 6183.47 5485.05 9493.22 4563.78 16892.92 7892.66 8173.99 11078.18 8294.31 6155.25 12797.41 4479.16 7591.58 5593.95 90
X-MVStestdata76.86 16374.13 17685.05 9493.22 4563.78 16892.92 7892.66 8173.99 11078.18 8210.19 33155.25 12797.41 4479.16 7591.58 5593.95 90
EI-MVSNet-Vis-set83.77 6383.67 5284.06 11592.79 5863.56 17691.76 12594.81 1579.65 3677.87 8494.09 6363.35 6497.90 2879.35 7379.36 13890.74 150
Vis-MVSNetpermissive80.92 10079.98 9883.74 12088.48 13561.80 19993.44 6588.26 22673.96 11377.73 8591.76 10449.94 18994.76 13265.84 17790.37 6994.65 61
Jingyang Zhang, Yao Yao, Shiwei Li, Zixin Luo, Tian Fang: Visibility-aware Multiview Stereo Network. BMVC 2020
abl_679.82 11879.20 11381.70 17189.85 10758.34 24388.47 19790.07 17262.56 24477.71 8693.08 7847.65 21296.78 8177.94 8585.45 10289.99 158
DWT-MVSNet_test83.95 5982.80 6787.41 2492.90 5370.07 2489.12 18994.42 2582.15 2077.64 8791.77 10370.81 1596.22 9265.03 18381.36 12895.94 22
CSCG86.87 2686.26 2988.72 995.05 1870.79 1793.83 5595.33 468.48 20277.63 8894.35 5873.04 898.45 1584.92 4093.71 2996.92 6
TESTMET0.1,182.41 8081.98 7683.72 12388.08 14363.74 17092.70 8493.77 3679.30 3877.61 8987.57 14658.19 9694.08 16473.91 10986.68 9093.33 105
tpm279.80 11977.95 12785.34 8788.28 14068.26 5781.56 26391.42 12670.11 18277.59 9080.50 22567.40 2994.26 15967.34 16177.35 15593.51 100
CP-MVS83.71 6583.40 5884.65 10493.14 4963.84 16694.59 3292.28 9171.03 17077.41 9194.92 4355.21 13096.19 9381.32 6590.70 6593.91 92
ab-mvs80.18 10978.31 12185.80 7088.44 13765.49 13683.00 25292.67 8071.82 15577.36 9285.01 16954.50 14596.59 8676.35 9375.63 16395.32 36
test22289.77 10961.60 20189.55 18089.42 19456.83 27677.28 9392.43 9452.76 16791.14 6293.09 112
PGM-MVS83.25 6882.70 7084.92 9692.81 5764.07 16490.44 16492.20 9871.28 16877.23 9494.43 5255.17 13197.31 5079.33 7491.38 5893.37 102
gg-mvs-nofinetune77.18 16174.31 17385.80 7091.42 8568.36 5371.78 29594.72 1749.61 29377.12 9545.92 31677.41 393.98 17167.62 15993.16 3695.05 49
HPM-MVS83.25 6882.95 6384.17 11392.25 6662.88 18790.91 15291.86 10970.30 18177.12 9593.96 6656.75 11296.28 9182.04 5791.34 6093.34 103
PVSNet_Blended_VisFu83.97 5883.50 5385.39 8590.02 10466.59 11193.77 5691.73 11377.43 6677.08 9789.81 12763.77 5996.97 7179.67 7188.21 7992.60 124
DeepC-MVS77.85 385.52 4185.24 4286.37 5588.80 12966.64 10892.15 10093.68 4081.07 2876.91 9893.64 7062.59 7298.44 1685.50 3692.84 3994.03 87
Andreas Kuhn, Christian Sormann, Mattia Rossi, Oliver Erdler, Friedrich Fraundorfer: DeepC-MVS: Deep Confidence Prediction for Multi-View Stereo Reconstruction. 3DV 2020
EI-MVSNet-UG-set83.14 7082.96 6283.67 12592.28 6563.19 18091.38 13994.68 1879.22 4076.60 9993.75 6862.64 7197.76 3078.07 8478.01 14890.05 157
EPNet_dtu78.80 13579.26 11277.43 24088.06 14449.71 28891.96 11191.95 10777.67 6176.56 10091.28 10958.51 9490.20 24656.37 23480.95 13192.39 128
Wanjuan Su, Wenbing Tao: Efficient Edge-Preserving Multi-View Stereo Network for Depth Estimation. AAAI 2023
DP-MVS Recon82.73 7581.65 8085.98 6597.31 367.06 8495.15 2491.99 10469.08 19276.50 10193.89 6754.48 14798.20 2170.76 13685.66 10092.69 121
tpmrst80.57 10279.14 11584.84 9990.10 10368.28 5681.70 25989.72 18777.63 6275.96 10279.54 23964.94 5092.71 20375.43 9877.28 15793.55 99
CHOSEN 1792x268884.98 4683.45 5589.57 689.94 10675.14 492.07 10692.32 9081.87 2575.68 10388.27 13960.18 8398.60 1380.46 6990.27 7094.96 54
test-LLR80.10 11279.56 10481.72 16986.93 16161.17 20492.70 8491.54 12071.51 16675.62 10486.94 15153.83 15492.38 21372.21 12084.76 10691.60 139
test-mter79.96 11579.38 11081.72 16986.93 16161.17 20492.70 8491.54 12073.85 11575.62 10486.94 15149.84 19192.38 21372.21 12084.76 10691.60 139
mPP-MVS82.96 7482.44 7184.52 10892.83 5462.92 18592.76 8191.85 11071.52 16575.61 10694.24 6253.48 16296.99 7078.97 7890.73 6493.64 97
MVS_111021_LR82.02 8881.52 8183.51 12788.42 13862.88 18789.77 17888.93 21176.78 7375.55 10793.10 7650.31 18595.38 12383.82 4887.02 8692.26 133
API-MVS82.28 8280.53 9387.54 2296.13 870.59 1993.63 5891.04 14065.72 22475.45 10892.83 8756.11 12198.89 764.10 19189.75 7293.15 110
Fast-Effi-MVS+81.14 9680.01 9684.51 10990.24 10265.86 12994.12 3989.15 20473.81 11775.37 10988.26 14057.26 10394.53 14266.97 16584.92 10393.15 110
tpmp4_e2378.85 13376.55 14485.77 7289.25 11868.39 5281.63 26291.38 12870.40 17975.21 11079.22 24167.37 3094.79 13058.98 22775.51 16494.13 80
nrg03080.93 9979.86 9984.13 11483.69 20068.83 4493.23 6991.20 13375.55 8575.06 11188.22 14163.04 6994.74 13481.88 5866.88 21388.82 165
PatchFormer-LS_test83.14 7081.81 7887.12 3192.34 6269.92 2788.64 19593.32 5582.07 2374.87 11291.62 10768.91 1796.08 9966.07 17478.45 14795.37 32
HPM-MVS_fast80.25 10879.55 10682.33 15291.55 8159.95 22691.32 14389.16 20365.23 22874.71 11393.07 8047.81 21195.74 10974.87 10888.23 7891.31 146
TR-MVS78.77 13677.37 13782.95 13390.49 9860.88 20693.67 5790.07 17270.08 18374.51 11491.37 10845.69 22495.70 11560.12 22080.32 13392.29 131
HQP-NCC87.54 15194.06 4279.80 3374.18 115
ACMP_Plane87.54 15194.06 4279.80 3374.18 115
HQP4-MVS74.18 11595.61 11688.63 167
HQP-MVS81.14 9680.64 9182.64 14087.54 15163.66 17494.06 4291.70 11679.80 3374.18 11590.30 12051.63 17895.61 11677.63 8678.90 14288.63 167
PAPM_NR82.97 7381.84 7786.37 5594.10 3366.76 10087.66 21292.84 7569.96 18474.07 11993.57 7163.10 6897.50 4270.66 13790.58 6794.85 56
VPA-MVSNet79.03 12978.00 12682.11 16485.95 17364.48 15193.22 7094.66 1975.05 9574.04 12084.95 17052.17 17393.52 18474.90 10767.04 21288.32 174
CDS-MVSNet81.43 9380.74 8983.52 12686.26 16864.45 15292.09 10490.65 15075.83 8373.95 12189.81 12763.97 5592.91 19771.27 12982.82 12193.20 109
Khang Truong Giang, Soohwan Song, Sungho Jo: Curvature-guided dynamic scale networks for Multi-view Stereo. ICLR 2022
tpm78.58 14077.03 14083.22 13085.94 17564.56 15083.21 25091.14 13678.31 5473.67 12279.68 23664.01 5492.09 22166.07 17471.26 18993.03 114
BH-RMVSNet79.46 12577.65 13184.89 9791.68 7865.66 13293.55 6188.09 22772.93 13173.37 12391.12 11046.20 22396.12 9656.28 23585.61 10192.91 118
CPTT-MVS79.59 12279.16 11480.89 18691.54 8259.80 22892.10 10388.54 22060.42 25772.96 12493.28 7548.27 20592.80 20078.89 7986.50 9490.06 156
HyFIR lowres test81.03 9879.56 10485.43 8387.81 14968.11 5990.18 17190.01 17570.65 17672.95 12586.06 16063.61 6194.50 14375.01 10479.75 13693.67 96
EPP-MVSNet81.79 9081.52 8182.61 14188.77 13060.21 22193.02 7493.66 4168.52 20172.90 12690.39 11972.19 1194.96 12774.93 10579.29 14092.67 122
MDTV_nov1_ep13_2view59.90 22780.13 27467.65 21072.79 12754.33 14959.83 22192.58 125
mvs-test178.74 13777.95 12781.14 17883.22 20457.13 25493.96 4787.78 23175.42 8772.68 12890.80 11345.08 22894.54 14175.08 10277.49 15391.74 138
TAMVS80.37 10679.45 10783.13 13285.14 18163.37 17791.23 14590.76 14674.81 9772.65 12988.49 13460.63 8292.95 19369.41 14681.95 12793.08 113
VPNet78.82 13477.53 13482.70 13784.52 18866.44 11793.93 5092.23 9380.46 3072.60 13088.38 13749.18 19793.13 18972.47 11863.97 23988.55 169
CLD-MVS82.73 7582.35 7383.86 11887.90 14867.65 6895.45 1792.18 10085.06 672.58 13192.27 9852.46 17195.78 10784.18 4379.06 14188.16 175
Zhaoxin Li, Wangmeng Zuo, Zhaoqi Wang, Lei Zhang: Confidence-based Large-scale Dense Multi-view Stereo. IEEE Transaction on Image Processing, 2020
HQP_MVS80.34 10779.75 10182.12 16186.94 15962.42 19293.13 7191.31 13078.81 4972.53 13289.14 13150.66 18295.55 11976.74 8978.53 14588.39 172
plane_prior361.95 19879.09 4472.53 132
EPMVS78.49 14275.98 15186.02 6291.21 8969.68 3180.23 27291.20 13375.25 9372.48 13478.11 24554.65 14493.69 18157.66 23283.04 11994.69 60
1112_ss80.56 10379.83 10082.77 13588.65 13160.78 20892.29 9788.36 22272.58 13672.46 13594.95 3965.09 4793.42 18666.38 17077.71 15094.10 82
PVSNet73.49 880.05 11378.63 11884.31 11190.92 9364.97 14892.47 9491.05 13979.18 4172.43 13690.51 11837.05 26994.06 16568.06 15486.00 9893.90 93
OMC-MVS78.67 13977.91 12980.95 18585.76 17757.40 25288.49 19688.67 21573.85 11572.43 13692.10 9949.29 19694.55 14072.73 11577.89 14990.91 149
MVS84.66 5082.86 6590.06 190.93 9274.56 587.91 20795.54 368.55 20072.35 13894.71 4959.78 8498.90 681.29 6694.69 1796.74 8
EI-MVSNet78.97 13178.22 12381.25 17685.33 17862.73 19089.53 18293.21 5972.39 13972.14 13990.13 12360.99 7994.72 13567.73 15872.49 18086.29 200
MVSTER82.47 7982.05 7483.74 12092.68 5969.01 3991.90 11893.21 5979.83 3272.14 13985.71 16474.72 694.72 13575.72 9472.49 18087.50 180
OPM-MVS79.00 13078.09 12481.73 16883.52 20363.83 16791.64 13290.30 16276.36 7971.97 14189.93 12646.30 22295.17 12475.10 10177.70 15186.19 202
Test_1112_low_res79.56 12378.60 11982.43 14688.24 14160.39 21792.09 10487.99 22972.10 14771.84 14287.42 14864.62 5193.04 19065.80 17877.30 15693.85 94
MDTV_nov1_ep1372.61 19389.06 12368.48 4980.33 27090.11 17171.84 15471.81 14375.92 26253.01 16593.92 17448.04 26373.38 172
ACMMPcopyleft81.49 9280.67 9083.93 11791.71 7762.90 18692.13 10192.22 9771.79 15771.68 14493.49 7350.32 18496.96 7278.47 8084.22 11691.93 136
Qingshan Xu, Weihang Kong, Wenbing Tao, Marc Pollefeys: Multi-Scale Geometric Consistency Guided and Planar Prior Assisted Multi-View Stereo. IEEE Transactions on Pattern Analysis and Machine Intelligence
CHOSEN 280x42077.35 15676.95 14278.55 22587.07 15862.68 19169.71 30182.95 28268.80 19571.48 14587.27 15066.03 3984.00 29076.47 9282.81 12288.95 164
IS-MVSNet80.14 11179.41 10882.33 15287.91 14760.08 22591.97 11088.27 22572.90 13271.44 14691.73 10661.44 7893.66 18262.47 20886.53 9393.24 107
PatchmatchNetpermissive77.46 15174.63 16785.96 6689.55 11470.35 2179.97 27689.55 19072.23 14170.94 14776.91 25757.03 10692.79 20154.27 24181.17 12994.74 59
Fangjinhua Wang, Silvano Galliani, Christoph Vogel, Pablo Speciale, Marc Pollefeys: PatchmatchNet: Learned Multi-View Patchmatch Stereo.
AdaColmapbinary78.94 13277.00 14184.76 10096.34 665.86 12992.66 8887.97 23062.18 24670.56 14892.37 9643.53 23597.35 4864.50 18882.86 12091.05 148
cascas78.18 14475.77 15485.41 8487.14 15769.11 3792.96 7591.15 13566.71 21670.47 14986.07 15937.49 26396.48 9070.15 14079.80 13590.65 151
CVMVSNet74.04 19674.27 17473.33 26685.33 17843.94 30289.53 18288.39 22154.33 28370.37 15090.13 12349.17 19884.05 28761.83 21279.36 13891.99 135
GA-MVS78.33 14376.23 14884.65 10483.65 20166.30 12191.44 13590.14 17076.01 8170.32 15184.02 17842.50 23794.72 13570.98 13377.00 15892.94 117
mvs_anonymous81.36 9479.99 9785.46 8090.39 10168.40 5186.88 22590.61 15174.41 9970.31 15284.67 17363.79 5892.32 21673.13 11085.70 9995.67 25
IB-MVS77.80 482.18 8380.46 9487.35 2689.14 12270.28 2295.59 1695.17 678.85 4770.19 15385.82 16270.66 1697.67 3272.19 12266.52 21694.09 83
Christian Sormann, Mattia Rossi, Andreas Kuhn and Friedrich Fraundorfer: IB-MVS: An Iterative Algorithm for Deep Multi-View Stereo based on Binary Decisions. BMVC 2021
TAPA-MVS70.22 1274.94 19073.53 18379.17 22090.40 10052.07 27689.19 18789.61 18962.69 24370.07 15492.67 9048.89 20294.32 15438.26 29379.97 13491.12 147
Andrea Romanoni, Matteo Matteucci: TAPA-MVS: Textureless-Aware PAtchMatch Multi-View Stereo. ICCV 2019
Patchmatch-test175.00 18971.80 20284.58 10686.63 16370.08 2381.06 26589.19 20171.60 16270.01 15577.16 25545.53 22588.63 26451.79 25073.27 17395.02 53
XXY-MVS77.94 14776.44 14682.43 14682.60 21064.44 15392.01 10791.83 11173.59 12270.00 15685.82 16254.43 14894.76 13269.63 14368.02 20788.10 176
CR-MVSNet73.79 19970.82 20882.70 13783.15 20667.96 6170.25 29884.00 27273.67 12169.97 15772.41 27757.82 9989.48 26052.99 24873.13 17490.64 152
RPMNet69.58 23465.21 24482.70 13783.15 20667.96 6170.25 29886.15 25546.83 30169.97 15765.10 30256.48 11889.48 26035.79 29973.13 17490.64 152
UniMVSNet (Re)77.58 15076.78 14379.98 19784.11 19660.80 20791.76 12593.17 6476.56 7769.93 15984.78 17263.32 6592.36 21564.89 18462.51 24486.78 194
PCF-MVS73.15 979.29 12677.63 13284.29 11286.06 17165.96 12787.03 22091.10 13769.86 18569.79 16090.64 11457.54 10296.59 8664.37 19082.29 12390.32 154
Andreas Kuhn, Shan Lin, Oliver Erdler: Plane Completion and Filtering for Multi-View Stereo Reconstruction. GCPR 2019
v1neww77.39 15375.71 15682.44 14380.69 22866.83 9291.94 11590.18 16774.19 10669.60 16182.51 19054.99 13894.44 14471.68 12565.60 21986.05 207
v7new77.39 15375.71 15682.44 14380.69 22866.83 9291.94 11590.18 16774.19 10669.60 16182.51 19054.99 13894.44 14471.68 12565.60 21986.05 207
v677.39 15375.71 15682.44 14380.67 23066.82 9491.94 11590.18 16774.19 10669.60 16182.50 19355.00 13794.44 14471.68 12565.60 21986.05 207
v114177.28 15875.57 16082.42 14880.63 23466.73 10191.96 11190.42 15574.41 9969.46 16482.12 20055.09 13494.40 14970.99 13265.05 22686.12 204
divwei89l23v2f11277.28 15875.57 16082.42 14880.62 23566.72 10391.96 11190.42 15574.41 9969.46 16482.12 20055.11 13394.40 14971.00 13065.04 22786.12 204
v177.29 15775.57 16082.42 14880.61 23866.73 10191.96 11190.42 15574.41 9969.46 16482.12 20055.14 13294.40 14971.00 13065.04 22786.13 203
v2v48277.42 15275.65 15982.73 13680.38 24067.13 8291.85 12090.23 16475.09 9469.37 16783.39 18453.79 15694.44 14471.77 12365.00 23086.63 198
PatchT69.11 23865.37 24380.32 19082.07 21463.68 17367.96 30787.62 23350.86 29169.37 16765.18 30157.09 10488.53 26841.59 28266.60 21588.74 166
v776.83 16575.01 16582.29 15480.35 24166.70 10591.68 12989.97 17673.47 12469.22 16982.22 19752.52 16994.43 14869.73 14265.96 21885.74 218
Vis-MVSNet (Re-imp)79.24 12779.57 10378.24 23088.46 13652.29 27590.41 16689.12 20574.24 10569.13 17091.91 10165.77 4290.09 25159.00 22688.09 8092.33 129
BH-w/o80.49 10579.30 11184.05 11690.83 9664.36 15893.60 5989.42 19474.35 10469.09 17190.15 12255.23 12995.61 11664.61 18686.43 9592.17 134
v114476.73 16774.88 16682.27 15580.23 24866.60 10991.68 12990.21 16673.69 11969.06 17281.89 20552.73 16894.40 14969.21 14865.23 22385.80 214
Baseline_NR-MVSNet73.99 19772.83 19077.48 23980.78 22459.29 23691.79 12284.55 26768.85 19468.99 17380.70 22256.16 11992.04 22262.67 20660.98 25681.11 272
FIs79.47 12479.41 10879.67 20485.95 17359.40 23391.68 12993.94 3278.06 5668.96 17488.28 13866.61 3491.77 22666.20 17374.99 16587.82 177
UniMVSNet_NR-MVSNet78.15 14577.55 13379.98 19784.46 19060.26 21992.25 9893.20 6177.50 6468.88 17586.61 15366.10 3892.13 21966.38 17062.55 24287.54 179
DU-MVS76.86 16375.84 15379.91 19982.96 20860.26 21991.26 14491.54 12076.46 7868.88 17586.35 15556.16 11992.13 21966.38 17062.55 24287.35 184
XVG-OURS-SEG-HR74.70 19273.08 18879.57 20778.25 27057.33 25380.49 26887.32 23763.22 23968.76 17790.12 12544.89 23191.59 22970.55 13874.09 16989.79 159
XVG-OURS74.25 19572.46 19679.63 20578.45 26957.59 25180.33 27087.39 23463.86 23568.76 17789.62 12940.50 24691.72 22769.00 14974.25 16789.58 162
V4276.46 16974.55 17082.19 15979.14 26267.82 6390.26 17089.42 19473.75 11868.63 17981.89 20551.31 18094.09 16371.69 12464.84 23184.66 230
PS-MVSNAJss77.26 16076.31 14780.13 19480.64 23359.16 23790.63 16291.06 13872.80 13368.58 18084.57 17553.55 15893.96 17272.97 11171.96 18387.27 187
v119275.98 17673.92 17982.15 16079.73 25366.24 12391.22 14689.75 18272.67 13468.49 18181.42 21149.86 19094.27 15767.08 16365.02 22985.95 211
tpm cat175.30 18472.21 19884.58 10688.52 13367.77 6478.16 28788.02 22861.88 25068.45 18276.37 25860.65 8194.03 16953.77 24474.11 16891.93 136
v14419276.05 17474.03 17782.12 16179.50 25766.55 11391.39 13789.71 18872.30 14068.17 18381.33 21351.75 17694.03 16967.94 15564.19 23685.77 215
v192192075.63 18173.49 18482.06 16579.38 25866.35 11991.07 15189.48 19171.98 14867.99 18481.22 21649.16 19993.90 17566.56 16864.56 23585.92 213
Effi-MVS+-dtu76.14 17275.28 16378.72 22483.22 20455.17 26489.87 17687.78 23175.42 8767.98 18581.43 21045.08 22892.52 20975.08 10271.63 18488.48 170
114514_t79.17 12877.67 13083.68 12495.32 1465.53 13592.85 8091.60 11963.49 23667.92 18690.63 11646.65 21895.72 11467.01 16483.54 11789.79 159
3Dnovator73.91 682.69 7880.82 8888.31 1289.57 11271.26 1392.60 8994.39 2978.84 4867.89 18792.48 9348.42 20498.52 1468.80 15294.40 1995.15 45
WR-MVS76.76 16675.74 15579.82 20284.60 18662.27 19692.60 8992.51 8776.06 8067.87 18885.34 16556.76 11190.24 24462.20 20963.69 24186.94 192
dp75.01 18872.09 19983.76 11989.28 11766.22 12479.96 27789.75 18271.16 16967.80 18977.19 25351.81 17592.54 20850.39 25471.44 18892.51 127
TranMVSNet+NR-MVSNet75.86 17774.52 17179.89 20082.44 21160.64 21491.37 14091.37 12976.63 7567.65 19086.21 15852.37 17291.55 23061.84 21160.81 25787.48 181
131480.70 10178.95 11685.94 6787.77 15067.56 7087.91 20792.55 8672.17 14567.44 19193.09 7750.27 18697.04 6471.68 12587.64 8393.23 108
3Dnovator+73.60 782.10 8780.60 9286.60 4390.89 9466.80 9995.20 2293.44 5074.05 10967.42 19292.49 9249.46 19497.65 3670.80 13591.68 5395.33 34
v124075.21 18672.98 18981.88 16679.20 26066.00 12690.75 15789.11 20671.63 16167.41 19381.22 21647.36 21393.87 17665.46 18164.72 23385.77 215
QAPM79.95 11677.39 13687.64 1989.63 11171.41 1293.30 6793.70 3965.34 22767.39 19491.75 10547.83 21098.96 457.71 23189.81 7192.54 126
v14876.19 17174.47 17281.36 17480.05 25264.44 15391.75 12790.23 16473.68 12067.13 19580.84 22155.92 12593.86 17868.95 15061.73 25185.76 217
GBi-Net75.65 17973.83 18081.10 18088.85 12665.11 14290.01 17290.32 15870.84 17367.04 19680.25 23048.03 20691.54 23159.80 22269.34 19686.64 195
test175.65 17973.83 18081.10 18088.85 12665.11 14290.01 17290.32 15870.84 17367.04 19680.25 23048.03 20691.54 23159.80 22269.34 19686.64 195
FMVSNet377.73 14976.04 15082.80 13491.20 9068.99 4091.87 11991.99 10473.35 12567.04 19683.19 18656.62 11592.14 21859.80 22269.34 19687.28 186
BH-untuned78.68 13877.08 13983.48 12889.84 10863.74 17092.70 8488.59 21871.57 16366.83 19988.65 13351.75 17695.39 12259.03 22584.77 10591.32 145
FC-MVSNet-test77.99 14678.08 12577.70 23584.89 18455.51 26290.27 16993.75 3876.87 7066.80 20087.59 14565.71 4390.23 24562.89 20373.94 17087.37 182
FMVSNet276.07 17374.01 17882.26 15788.85 12667.66 6791.33 14291.61 11870.84 17365.98 20182.25 19648.03 20692.00 22358.46 22868.73 20287.10 188
ACMM69.62 1374.34 19372.73 19179.17 22084.25 19557.87 24690.36 16789.93 17763.17 24065.64 20286.04 16137.79 26194.10 16265.89 17671.52 18685.55 221
Qingshan Xu and Wenbing Tao: Multi-Scale Geometric Consistency Guided Multi-View Stereo. CVPR 2019
Fast-Effi-MVS+-dtu75.04 18773.37 18680.07 19580.86 22359.52 23291.20 14885.38 26371.90 14965.20 20384.84 17141.46 24392.97 19266.50 16972.96 17687.73 178
IterMVS-LS76.49 16875.18 16480.43 18984.49 18962.74 18990.64 16088.80 21372.40 13865.16 20481.72 20860.98 8092.27 21767.74 15764.65 23486.29 200
Fangjinhua Wang, Silvano Galliani, Christoph Vogel, Marc Pollefeys: IterMVS: Iterative Probability Estimation for Efficient Multi-View Stereo.
LPG-MVS_test75.82 17874.58 16979.56 20884.31 19359.37 23490.44 16489.73 18569.49 18764.86 20588.42 13538.65 25194.30 15572.56 11672.76 17785.01 227
LGP-MVS_train79.56 20884.31 19359.37 23489.73 18569.49 18764.86 20588.42 13538.65 25194.30 15572.56 11672.76 17785.01 227
MIMVSNet71.64 21568.44 22481.23 17781.97 21564.44 15373.05 29488.80 21369.67 18664.59 20774.79 26632.79 28087.82 27353.99 24276.35 16091.42 141
OpenMVScopyleft70.45 1178.54 14175.92 15286.41 5485.93 17671.68 1192.74 8292.51 8766.49 21864.56 20891.96 10043.88 23498.10 2454.61 23990.65 6689.44 163
ADS-MVSNet266.90 25163.44 25477.26 24488.06 14460.70 21268.01 30575.56 30257.57 26964.48 20969.87 29238.68 24984.10 28640.87 28467.89 20886.97 189
ADS-MVSNet68.54 24164.38 25181.03 18388.06 14466.90 9168.01 30584.02 27157.57 26964.48 20969.87 29238.68 24989.21 26340.87 28467.89 20886.97 189
PLCcopyleft68.80 1475.23 18573.68 18279.86 20192.93 5258.68 24290.64 16088.30 22360.90 25464.43 21190.53 11742.38 23894.57 13856.52 23376.54 15986.33 199
Jie Liao, Yanping Fu, Qingan Yan, Chunxia xiao: Pyramid Multi-View Stereo with Local Consistency. Pacific Graphics 2019
tpmvs72.88 20569.76 21382.22 15890.98 9167.05 8578.22 28688.30 22363.10 24164.35 21274.98 26555.09 13494.27 15743.25 27469.57 19585.34 225
test_djsdf73.76 20072.56 19477.39 24177.00 27853.93 26989.07 19090.69 14765.80 22263.92 21382.03 20343.14 23692.67 20572.83 11368.53 20385.57 220
JIA-IIPM66.06 25562.45 26176.88 24681.42 22054.45 26857.49 31988.67 21549.36 29463.86 21446.86 31556.06 12290.25 24249.53 25868.83 20085.95 211
CNLPA74.31 19472.30 19780.32 19091.49 8461.66 20090.85 15380.72 28956.67 27763.85 21590.64 11446.75 21690.84 23853.79 24375.99 16288.47 171
PatchMatch-RL72.06 21069.98 20978.28 22789.51 11555.70 26183.49 24483.39 27861.24 25363.72 21682.76 18834.77 27693.03 19153.37 24777.59 15286.12 204
FMVSNet172.71 20769.91 21181.10 18083.60 20265.11 14290.01 17290.32 15863.92 23463.56 21780.25 23036.35 27191.54 23154.46 24066.75 21486.64 195
pmmvs473.92 19871.81 20180.25 19279.17 26165.24 13887.43 21587.26 23967.64 21163.46 21883.91 17948.96 20191.53 23462.94 20265.49 22283.96 234
pmmvs573.35 20171.52 20378.86 22378.64 26860.61 21591.08 15086.90 24067.69 20863.32 21983.64 18044.33 23390.53 23962.04 21066.02 21785.46 222
v875.35 18373.26 18781.61 17280.67 23066.82 9489.54 18189.27 19871.65 16063.30 22080.30 22954.99 13894.06 16567.33 16262.33 24583.94 235
v1074.77 19172.54 19581.46 17380.33 24566.71 10489.15 18889.08 20770.94 17163.08 22179.86 23452.52 16994.04 16865.70 17962.17 24683.64 237
ACMP71.68 1075.58 18274.23 17579.62 20684.97 18359.64 22990.80 15589.07 20870.39 18062.95 22287.30 14938.28 25493.87 17672.89 11271.45 18785.36 224
Qingshan Xu and Wenbing Tao: Planar Prior Assisted PatchMatch Multi-View Stereo. AAAI 2020
pm-mvs172.89 20471.09 20678.26 22979.10 26457.62 25090.80 15589.30 19767.66 20962.91 22381.78 20749.11 20092.95 19360.29 21958.89 26684.22 233
jajsoiax73.05 20271.51 20477.67 23677.46 27554.83 26588.81 19290.04 17469.13 19162.85 22483.51 18231.16 28992.75 20270.83 13469.80 19285.43 223
mvs_tets72.71 20771.11 20577.52 23777.41 27654.52 26788.45 19889.76 18168.76 19662.70 22583.26 18529.49 29392.71 20370.51 13969.62 19485.34 225
MS-PatchMatch77.90 14876.50 14582.12 16185.99 17269.95 2691.75 12792.70 7873.97 11262.58 22684.44 17641.11 24495.78 10763.76 19292.17 4880.62 278
test0.0.03 172.76 20672.71 19272.88 27080.25 24747.99 29391.22 14689.45 19271.51 16662.51 22787.66 14453.83 15485.06 28350.16 25567.84 21085.58 219
anonymousdsp71.14 22069.37 21576.45 24872.95 29054.71 26684.19 23988.88 21261.92 24962.15 22879.77 23538.14 25691.44 23668.90 15167.45 21183.21 246
MVP-Stereo77.12 16276.23 14879.79 20381.72 21666.34 12089.29 18490.88 14270.56 17762.01 22982.88 18749.34 19594.13 16165.55 18093.80 2678.88 290
Qingsong Yan: MVP-Stereo: A Parallel Multi-View Patchmatch Stereo Method with Dilation Matching for Photogrammetric Application.
NR-MVSNet76.05 17474.59 16880.44 18882.96 20862.18 19790.83 15491.73 11377.12 6760.96 23086.35 15559.28 8891.80 22560.74 21661.34 25487.35 184
IterMVS72.65 20970.83 20778.09 23382.17 21262.96 18287.64 21386.28 25271.56 16460.44 23178.85 24345.42 22786.66 27863.30 19661.83 24884.65 231
Fangjinhua Wang, Silvano Galliani, Christoph Vogel, Marc Pollefeys: IterMVS: Iterative Probability Estimation for Efficient Multi-View Stereo.
WR-MVS_H70.59 22669.94 21072.53 27281.03 22151.43 27987.35 21792.03 10367.38 21360.23 23280.70 22255.84 12683.45 29446.33 26858.58 26782.72 253
TransMVSNet (Re)70.07 22967.66 23177.31 24380.62 23559.13 23891.78 12484.94 26565.97 22160.08 23380.44 22650.78 18191.87 22448.84 26045.46 30380.94 274
CP-MVSNet70.50 22869.91 21172.26 27580.71 22751.00 28287.23 21890.30 16267.84 20759.64 23482.69 18950.23 18782.30 30151.28 25159.28 26183.46 242
semantic-postprocess76.32 24981.48 21760.67 21385.99 25866.17 22059.50 23578.88 24245.51 22683.65 29262.58 20761.93 24784.63 232
Patchmtry67.53 24863.93 25278.34 22682.12 21364.38 15668.72 30284.00 27248.23 29859.24 23672.41 27757.82 9989.27 26246.10 26956.68 27381.36 266
PS-CasMVS69.86 23169.13 21872.07 27880.35 24150.57 28487.02 22189.75 18267.27 21459.19 23782.28 19546.58 21982.24 30250.69 25359.02 26483.39 244
PEN-MVS69.46 23668.56 22272.17 27779.27 25949.71 28886.90 22489.24 20067.24 21559.08 23882.51 19047.23 21483.54 29348.42 26257.12 26983.25 245
DI_MVS_plusplus_test79.78 12077.50 13586.62 4280.90 22269.46 3390.69 15891.97 10677.00 6859.07 23982.34 19446.82 21595.88 10482.14 5686.59 9294.53 67
RPSCF64.24 26361.98 26471.01 28276.10 28245.00 29975.83 29175.94 29946.94 30058.96 24084.59 17431.40 28882.00 30347.76 26460.33 26086.04 210
XVG-ACMP-BASELINE68.04 24465.53 24175.56 25374.06 28952.37 27478.43 28385.88 26062.03 24758.91 24181.21 21820.38 31091.15 23760.69 21768.18 20583.16 247
v7n71.31 21768.65 22079.28 21576.40 28060.77 20986.71 22789.45 19264.17 23358.77 24278.24 24444.59 23293.54 18357.76 23061.75 25083.52 240
test_normal79.66 12177.36 13886.54 4680.72 22669.21 3690.68 15992.16 10176.99 6958.63 24382.03 20346.70 21795.86 10581.74 6086.63 9194.56 62
DTE-MVSNet68.46 24267.33 23271.87 28177.94 27349.00 29186.16 23288.58 21966.36 21958.19 24482.21 19846.36 22083.87 29144.97 27255.17 27682.73 252
Anonymous2023120667.53 24865.78 23872.79 27174.95 28647.59 29588.23 20087.32 23761.75 25258.07 24577.29 25137.79 26187.29 27642.91 27663.71 24083.48 241
PVSNet_068.08 1571.81 21268.32 22682.27 15584.68 18562.31 19588.68 19490.31 16175.84 8257.93 24680.65 22437.85 26094.19 16069.94 14129.05 31990.31 155
v5269.80 23267.01 23578.15 23171.84 29460.10 22382.02 25687.39 23464.48 23057.80 24775.97 26141.47 24292.90 19863.00 20059.13 26381.45 263
V469.80 23267.02 23478.15 23171.86 29360.10 22382.02 25687.39 23464.48 23057.78 24875.98 26041.49 24192.90 19863.00 20059.16 26281.44 264
DP-MVS69.90 23066.48 23680.14 19395.36 1362.93 18389.56 17976.11 29750.27 29257.69 24985.23 16739.68 24895.73 11033.35 30371.05 19081.78 259
pmmvs667.57 24764.76 24676.00 25272.82 29253.37 27188.71 19386.78 24153.19 28457.58 25078.03 24635.33 27492.41 21255.56 23754.88 27882.21 256
F-COLMAP70.66 22568.44 22477.32 24286.37 16755.91 26088.00 20386.32 25156.94 27557.28 25188.07 14233.58 27892.49 21051.02 25268.37 20483.55 238
Patchmatch-RL test68.17 24364.49 24979.19 21971.22 29653.93 26970.07 30071.54 31369.22 19056.79 25262.89 30556.58 11688.61 26569.53 14552.61 28295.03 52
v74870.55 22767.97 23078.27 22875.75 28558.78 24086.29 23189.25 19965.12 22956.66 25377.17 25445.05 23092.95 19358.13 22958.33 26883.10 249
LS3D69.17 23766.40 23777.50 23891.92 7156.12 25985.12 23480.37 29046.96 29956.50 25487.51 14737.25 26493.71 18032.52 30879.40 13782.68 254
v1871.94 21169.43 21479.50 21080.74 22566.82 9488.16 20186.66 24268.95 19355.55 25572.66 27255.03 13690.15 24764.78 18552.30 28381.54 260
v1671.81 21269.26 21679.47 21180.66 23266.81 9787.93 20586.63 24468.70 19855.35 25672.51 27354.75 14290.12 24964.51 18752.28 28481.47 261
v1771.77 21469.20 21779.46 21280.62 23566.81 9787.93 20586.63 24468.71 19755.25 25772.49 27454.72 14390.11 25064.50 18851.97 28581.47 261
LTVRE_ROB59.60 1966.27 25463.54 25374.45 25984.00 19851.55 27867.08 30883.53 27558.78 26654.94 25880.31 22834.54 27793.23 18840.64 28668.03 20678.58 293
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
v1571.40 21668.75 21979.35 21380.39 23966.70 10587.57 21486.64 24368.66 19954.68 25972.00 28154.50 14589.98 25263.69 19350.66 29081.38 265
MSDG69.54 23565.73 23980.96 18485.11 18263.71 17284.19 23983.28 27956.95 27454.50 26084.03 17731.50 28796.03 10042.87 27869.13 19983.14 248
V1471.29 21868.61 22179.31 21480.34 24366.65 10787.39 21686.61 24668.41 20354.49 26171.91 28254.25 15089.96 25363.50 19450.62 29181.33 267
v1171.05 22268.32 22679.23 21780.34 24366.57 11287.01 22286.55 24868.11 20554.40 26271.66 28652.94 16689.91 25562.71 20551.12 28881.21 269
EU-MVSNet64.01 26563.01 25767.02 29174.40 28838.86 31483.27 24886.19 25445.11 30554.27 26381.15 21936.91 27080.01 30748.79 26157.02 27082.19 257
V971.16 21968.46 22379.27 21680.26 24666.60 10987.21 21986.56 24768.17 20454.26 26471.81 28454.00 15289.93 25463.28 19750.57 29281.27 268
testgi64.48 26262.87 25969.31 28571.24 29540.62 30985.49 23379.92 29165.36 22654.18 26583.49 18323.74 30584.55 28441.60 28160.79 25882.77 251
ITE_SJBPF70.43 28374.44 28747.06 29777.32 29560.16 25954.04 26683.53 18123.30 30684.01 28943.07 27561.58 25380.21 282
v1271.02 22368.29 22879.22 21880.18 24966.53 11487.01 22286.54 24967.90 20654.00 26771.70 28553.66 15789.91 25563.09 19950.51 29381.21 269
OpenMVS_ROBcopyleft61.12 1866.39 25362.92 25876.80 24776.51 27957.77 24789.22 18583.41 27755.48 28153.86 26877.84 24726.28 30293.95 17334.90 30168.76 20178.68 292
v1370.90 22468.15 22979.15 22280.08 25066.45 11686.83 22686.50 25067.62 21253.78 26971.61 28753.51 16189.87 25762.89 20350.50 29481.14 271
FMVSNet568.04 24465.66 24075.18 25584.43 19157.89 24583.54 24386.26 25361.83 25153.64 27073.30 26937.15 26785.08 28248.99 25961.77 24982.56 255
test235664.16 26463.28 25566.81 29269.37 30439.86 31287.76 21086.02 25759.83 26153.54 27173.23 27034.94 27580.67 30639.66 28865.20 22479.89 283
Test476.45 17073.45 18585.45 8276.07 28467.61 6988.38 19990.83 14376.71 7453.06 27279.65 23831.61 28694.35 15378.47 8086.22 9694.40 71
ACMH+65.35 1667.65 24664.55 24776.96 24584.59 18757.10 25588.08 20280.79 28858.59 26853.00 27381.09 22026.63 30192.95 19346.51 26761.69 25280.82 275
test_040264.54 26161.09 26674.92 25684.10 19760.75 21087.95 20479.71 29252.03 28752.41 27477.20 25232.21 28491.64 22823.14 31861.03 25572.36 305
LCM-MVSNet-Re72.93 20371.84 20076.18 25188.49 13448.02 29280.07 27570.17 31473.96 11352.25 27580.09 23349.98 18888.24 27067.35 16084.23 11492.28 132
test20.0363.83 26662.65 26067.38 29070.58 30039.94 31086.57 22984.17 26963.29 23851.86 27677.30 25037.09 26882.47 29938.87 29254.13 28079.73 285
OurMVSNet-221017-064.68 26062.17 26372.21 27676.08 28347.35 29680.67 26781.02 28756.19 27851.60 27779.66 23727.05 30088.56 26753.60 24553.63 28180.71 277
ACMH63.93 1768.62 23964.81 24580.03 19685.22 18063.25 17887.72 21184.66 26660.83 25551.57 27879.43 24027.29 29994.96 12741.76 28064.84 23181.88 258
Qingshan Xu and Wenbing Tao: Multi-Scale Geometric Consistency Guided Multi-View Stereo. CVPR 2019
DSMNet-mixed56.78 28154.44 28363.79 29763.21 31029.44 32364.43 31164.10 32142.12 31351.32 27971.60 28831.76 28575.04 31636.23 29665.20 22486.87 193
pmmvs-eth3d65.53 25862.32 26275.19 25469.39 30359.59 23082.80 25383.43 27662.52 24551.30 28072.49 27432.86 27987.16 27755.32 23850.73 28978.83 291
PM-MVS59.40 27756.59 27867.84 28763.63 30941.86 30676.76 28963.22 32259.01 26551.07 28172.27 28011.72 32083.25 29661.34 21350.28 29578.39 294
Patchmatch-test65.86 25660.94 26780.62 18783.75 19958.83 23958.91 31875.26 30444.50 30850.95 28277.09 25658.81 9387.90 27235.13 30064.03 23795.12 47
SixPastTwentyTwo64.92 25961.78 26574.34 26178.74 26649.76 28783.42 24779.51 29362.86 24250.27 28377.35 24930.92 29190.49 24045.89 27047.06 30082.78 250
EG-PatchMatch MVS68.55 24065.41 24277.96 23478.69 26762.93 18389.86 17789.17 20260.55 25650.27 28377.73 24822.60 30794.06 16547.18 26672.65 17976.88 298
ambc69.61 28461.38 31541.35 30749.07 32285.86 26150.18 28566.40 29710.16 32388.14 27145.73 27144.20 30479.32 289
UnsupCasMVSNet_eth65.79 25763.10 25673.88 26270.71 29850.29 28681.09 26489.88 17872.58 13649.25 28674.77 26732.57 28287.43 27555.96 23641.04 30983.90 236
COLMAP_ROBcopyleft57.96 2062.98 27059.65 27072.98 26981.44 21953.00 27383.75 24175.53 30348.34 29748.81 28781.40 21224.14 30390.30 24132.95 30560.52 25975.65 301
Johannes L. Schönberger, Enliang Zheng, Marc Pollefeys, Jan-Michael Frahm: Pixelwise View Selection for Unstructured Multi-View Stereo. ECCV 2016
USDC67.43 25064.51 24876.19 25077.94 27355.29 26378.38 28485.00 26473.17 12648.36 28880.37 22721.23 30992.48 21152.15 24964.02 23880.81 276
K. test v363.09 26959.61 27173.53 26576.26 28149.38 29083.27 24877.15 29664.35 23247.77 28972.32 27928.73 29487.79 27449.93 25736.69 31483.41 243
testus59.36 27857.51 27564.90 29566.72 30637.56 31584.98 23581.09 28657.46 27247.72 29072.76 27111.43 32278.78 31336.56 29458.91 26578.36 295
testpf57.17 28056.93 27757.88 30279.13 26342.40 30334.23 32585.97 25952.64 28547.66 29166.50 29636.33 27279.65 30953.60 24556.31 27451.60 318
UnsupCasMVSNet_bld61.60 27257.71 27373.29 26768.73 30551.64 27778.61 28289.05 20957.20 27346.11 29261.96 30728.70 29588.60 26650.08 25638.90 31279.63 286
AllTest61.66 27158.06 27272.46 27379.57 25451.42 28080.17 27368.61 31651.25 28945.88 29381.23 21419.86 31186.58 27938.98 29057.01 27179.39 287
TestCases72.46 27379.57 25451.42 28068.61 31651.25 28945.88 29381.23 21419.86 31186.58 27938.98 29057.01 27179.39 287
lessismore_v073.72 26472.93 29147.83 29461.72 32445.86 29573.76 26828.63 29689.81 25847.75 26531.37 31883.53 239
N_pmnet50.55 28949.11 29154.88 30677.17 2774.02 33584.36 2382.00 33548.59 29545.86 29568.82 29432.22 28382.80 29831.58 30951.38 28777.81 296
MVS-HIRNet60.25 27555.55 28174.35 26084.37 19256.57 25771.64 29674.11 30634.44 31745.54 29742.24 31931.11 29089.81 25840.36 28776.10 16176.67 299
testing_271.09 22167.32 23382.40 15169.82 30166.52 11583.64 24290.77 14572.21 14245.12 29871.07 29127.60 29893.74 17975.71 9569.96 19186.95 191
CMPMVSbinary48.56 2166.77 25264.41 25073.84 26370.65 29950.31 28577.79 28885.73 26245.54 30444.76 29982.14 19935.40 27390.14 24863.18 19874.54 16681.07 273
M. Jancosek, T. Pajdla: Multi-View Reconstruction Preserving Weakly-Supported Surfaces. CVPR 2011
MIMVSNet160.16 27657.33 27668.67 28669.71 30244.13 30178.92 28184.21 26855.05 28244.63 30071.85 28323.91 30481.54 30532.63 30755.03 27780.35 279
LF4IMVS54.01 28752.12 28559.69 30062.41 31239.91 31168.59 30368.28 31842.96 31144.55 30175.18 26414.09 31968.39 32041.36 28351.68 28670.78 308
pmmvs355.51 28551.50 28867.53 28957.90 31850.93 28380.37 26973.66 30740.63 31444.15 30264.75 30316.30 31478.97 31244.77 27340.98 31072.69 304
LP56.71 28251.64 28671.91 28080.08 25060.33 21861.72 31375.61 30143.87 31043.76 30360.30 30930.46 29284.05 28722.94 31946.06 30271.34 307
new-patchmatchnet59.30 27956.48 27967.79 28865.86 30744.19 30082.47 25481.77 28359.94 26043.65 30466.20 29827.67 29781.68 30439.34 28941.40 30877.50 297
TDRefinement55.28 28651.58 28766.39 29359.53 31746.15 29876.23 29072.80 30844.60 30742.49 30576.28 25915.29 31682.39 30033.20 30443.75 30570.62 309
111156.66 28354.98 28261.69 29861.99 31331.38 31979.81 27883.17 28045.66 30241.94 30665.44 29941.50 23979.56 31027.64 31247.68 29974.14 303
.test124546.52 29349.68 28937.02 31561.99 31331.38 31979.81 27883.17 28045.66 30241.94 30665.44 29941.50 23979.56 31027.64 3120.01 3310.13 330
Anonymous2023121153.57 28849.43 29066.00 29465.01 30842.08 30480.95 26672.60 30938.46 31541.65 30864.48 30415.72 31584.23 28525.78 31540.24 31171.68 306
TinyColmap60.32 27456.42 28072.00 27978.78 26553.18 27278.36 28575.64 30052.30 28641.59 30975.82 26314.76 31888.35 26935.84 29754.71 27974.46 302
YYNet163.76 26860.14 26974.62 25878.06 27260.19 22283.46 24683.99 27456.18 27939.25 31071.56 29037.18 26683.34 29542.90 27748.70 29880.32 280
MDA-MVSNet_test_wron63.78 26760.16 26874.64 25778.15 27160.41 21683.49 24484.03 27056.17 28039.17 31171.59 28937.22 26583.24 29742.87 27848.73 29780.26 281
test123567855.73 28452.74 28464.68 29660.16 31635.56 31781.65 26081.46 28451.27 28838.93 31262.82 30617.44 31378.58 31430.87 31050.09 29679.89 283
new_pmnet49.31 29046.44 29257.93 30162.84 31140.74 30868.47 30462.96 32336.48 31635.09 31357.81 31114.97 31772.18 31732.86 30646.44 30160.88 316
MDA-MVSNet-bldmvs61.54 27357.70 27473.05 26879.53 25657.00 25683.08 25181.23 28557.57 26934.91 31472.45 27632.79 28086.26 28135.81 29841.95 30775.89 300
test1235647.51 29144.82 29355.56 30452.53 31921.09 33071.45 29776.03 29844.14 30930.69 31558.18 3109.01 32676.14 31526.95 31434.43 31769.46 311
testmv46.98 29243.53 29457.35 30347.75 32430.41 32274.99 29377.69 29442.84 31228.03 31653.36 3128.18 32771.18 31824.36 31734.55 31570.46 310
FPMVS45.64 29443.10 29553.23 30851.42 32136.46 31664.97 31071.91 31129.13 31927.53 31761.55 3089.83 32465.01 32416.00 32455.58 27558.22 317
LCM-MVSNet40.54 29635.79 29754.76 30736.92 32930.81 32151.41 32069.02 31522.07 32124.63 31845.37 3174.56 33265.81 32233.67 30234.50 31667.67 312
PMMVS237.93 29833.61 29950.92 30946.31 32524.76 32860.55 31750.05 32628.94 32020.93 31947.59 3144.41 33365.13 32325.14 31618.55 32162.87 314
no-one44.13 29538.39 29661.34 29945.91 32641.94 30561.67 31475.07 30545.05 30620.07 32040.68 32211.58 32179.82 30830.18 31115.30 32262.26 315
tmp_tt22.26 30723.75 30617.80 3205.23 33412.06 33435.26 32439.48 3302.82 33018.94 32144.20 31822.23 30824.64 33236.30 2959.31 32816.69 325
ANet_high40.27 29735.20 29855.47 30534.74 33034.47 31863.84 31271.56 31248.42 29618.80 32241.08 3209.52 32564.45 32520.18 3218.66 32967.49 313
DeepMVS_CXcopyleft34.71 31651.45 32024.73 32928.48 33431.46 31817.49 32352.75 3135.80 33042.60 33118.18 32319.42 32036.81 322
Gipumacopyleft34.91 29931.44 30145.30 31170.99 29739.64 31319.85 32872.56 31020.10 32416.16 32421.47 3275.08 33171.16 31913.07 32543.70 30625.08 324
S. Galliani, K. Lasinger, K. Schindler: Massively Parallel Multiview Stereopsis by Surface Normal Diffusion. ICCV 2015
PNet_i23d32.77 30029.98 30241.11 31348.05 32229.17 32465.82 30950.02 32721.42 32214.74 32537.19 3231.11 33655.11 32719.75 32211.77 32439.06 320
PMVScopyleft26.43 2231.84 30128.16 30342.89 31225.87 33327.58 32650.92 32149.78 32821.37 32314.17 32640.81 3212.01 33466.62 3219.61 32738.88 31334.49 323
Y. Furukawa, J. Ponce: Accurate, dense, and robust multiview stereopsis. PAMI (2010)
MVEpermissive24.84 2324.35 30519.77 30938.09 31434.56 33126.92 32726.57 32638.87 33111.73 32811.37 32727.44 3241.37 33550.42 32811.41 32614.60 32336.93 321
Simon Fuhrmann, Fabian Langguth, Michael Goesele: MVE - A Multi-View Reconstruction Environment. EUROGRAPHICS Workshops on Graphics and Cultural Heritage (2014)
E-PMN24.61 30424.00 30526.45 31843.74 32718.44 33260.86 31539.66 32915.11 3259.53 32822.10 3266.52 32946.94 3298.31 32810.14 32513.98 326
EMVS23.76 30623.20 30725.46 31941.52 32816.90 33360.56 31638.79 33214.62 3268.99 32920.24 3307.35 32845.82 3307.25 3299.46 32713.64 327
wuykxyi23d29.03 30323.09 30846.84 31031.67 33228.82 32543.46 32357.72 32514.39 3277.52 33020.84 3280.64 33760.29 32621.57 32010.04 32651.40 319
wuyk23d11.30 30910.95 31012.33 32148.05 32219.89 33125.89 3271.92 3363.58 3293.12 3311.37 3320.64 33715.77 3336.23 3307.77 3301.35 328
testmvs7.23 3119.62 3120.06 3230.04 3350.02 33784.98 2350.02 3370.03 3310.18 3321.21 3330.01 3400.02 3340.14 3310.01 3310.13 330
test1236.92 3129.21 3130.08 3220.03 3360.05 33681.65 2600.01 3380.02 3320.14 3330.85 3340.03 3390.02 3340.12 3320.00 3330.16 329
cdsmvs_eth3d_5k19.86 30826.47 3040.00 3240.00 3370.00 3380.00 32993.45 490.00 3330.00 33495.27 2949.56 1920.00 3360.00 3330.00 3330.00 332
pcd_1.5k_mvsjas4.46 3135.95 3140.00 3240.00 3370.00 3380.00 3290.00 3390.00 3330.00 3340.00 33553.55 1580.00 3360.00 3330.00 3330.00 332
pcd1.5k->3k31.17 30231.85 30029.12 31781.48 2170.00 3380.00 32991.79 1120.00 3330.00 3340.00 33541.05 2450.00 3360.00 33372.34 18287.36 183
sosnet-low-res0.00 3140.00 3150.00 3240.00 3370.00 3380.00 3290.00 3390.00 3330.00 3340.00 3350.00 3410.00 3360.00 3330.00 3330.00 332
sosnet0.00 3140.00 3150.00 3240.00 3370.00 3380.00 3290.00 3390.00 3330.00 3340.00 3350.00 3410.00 3360.00 3330.00 3330.00 332
uncertanet0.00 3140.00 3150.00 3240.00 3370.00 3380.00 3290.00 3390.00 3330.00 3340.00 3350.00 3410.00 3360.00 3330.00 3330.00 332
Regformer0.00 3140.00 3150.00 3240.00 3370.00 3380.00 3290.00 3390.00 3330.00 3340.00 3350.00 3410.00 3360.00 3330.00 3330.00 332
ab-mvs-re7.91 31010.55 3110.00 3240.00 3370.00 3380.00 3290.00 3390.00 3330.00 33494.95 390.00 3410.00 3360.00 3330.00 3330.00 332
uanet0.00 3140.00 3150.00 3240.00 3370.00 3380.00 3290.00 3390.00 3330.00 3340.00 3350.00 3410.00 3360.00 3330.00 3330.00 332
sam_mvs157.85 98
sam_mvs54.91 141
MTGPAbinary92.23 93
test_post178.95 28020.70 32953.05 16491.50 23560.43 218
test_post23.01 32556.49 11792.67 205
patchmatchnet-post67.62 29557.62 10190.25 242
MTMP32.52 333
gm-plane-assit88.42 13867.04 8678.62 5291.83 10297.37 4676.57 91
test9_res89.41 994.96 895.29 37
agg_prior286.41 3094.75 1695.33 34
test_prior467.18 8193.92 51
test_prior86.42 5294.71 2167.35 7593.10 6796.84 7995.05 49
新几何291.41 136
旧先验191.94 7060.74 21191.50 12394.36 5465.23 4591.84 5094.55 63
无先验92.71 8392.61 8462.03 24797.01 6566.63 16693.97 89
原ACMM292.01 107
testdata296.09 9761.26 214
segment_acmp65.94 40
testdata189.21 18677.55 63
plane_prior786.94 15961.51 202
plane_prior687.23 15562.32 19450.66 182
plane_prior591.31 13095.55 11976.74 8978.53 14588.39 172
plane_prior489.14 131
plane_prior293.13 7178.81 49
plane_prior187.15 156
plane_prior62.42 19293.85 5479.38 3778.80 144
n20.00 339
nn0.00 339
door-mid66.01 320
test1193.01 69
door66.57 319
HQP5-MVS63.66 174
BP-MVS77.63 86
HQP3-MVS91.70 11678.90 142
HQP2-MVS51.63 178
NP-MVS87.41 15463.04 18190.30 120
ACMMP++_ref71.63 184
ACMMP++69.72 193
Test By Simon54.21 151