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 bysort bysorted bysort bysort bysort bysort bysort by
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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.
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
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
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
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
test_894.19 2667.19 7994.15 3793.42 5171.87 15185.38 2895.35 2468.19 2196.95 73
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
旧先验191.94 7060.74 21191.50 12394.36 5465.23 4591.84 5094.55 63
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
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
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.
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
test22289.77 10961.60 20189.55 18089.42 19456.83 27677.28 9392.43 9452.76 16791.14 6293.09 112
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
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
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
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
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
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
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
gm-plane-assit88.42 13867.04 8678.62 5291.83 10297.37 4676.57 91
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
NP-MVS87.41 15463.04 18190.30 120
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
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
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
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
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
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
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
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
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
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
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_prior489.14 131
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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.
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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.
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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.
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
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
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
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
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
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
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
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
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
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
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
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
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
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.
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
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
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
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
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
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
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
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
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
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
lessismore_v073.72 26472.93 29147.83 29461.72 32445.86 29573.76 26828.63 29689.81 25847.75 26531.37 31883.53 239
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
patchmatchnet-post67.62 29557.62 10190.25 242
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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)
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
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
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)
test_post23.01 32556.49 11792.67 205
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
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
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
test_post178.95 28020.70 32953.05 16491.50 23560.43 218
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
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
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
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
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
MTMP32.52 333
test9_res89.41 994.96 895.29 37
agg_prior286.41 3094.75 1695.33 34
agg_prior94.16 3166.97 8793.31 5684.49 3596.75 83
test_prior467.18 8193.92 51
test_prior86.42 5294.71 2167.35 7593.10 6796.84 7995.05 49
旧先验292.00 10959.37 26487.54 1593.47 18575.39 99
新几何291.41 136
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
test1287.09 3394.60 2368.86 4392.91 7382.67 4865.44 4497.55 4093.69 3094.84 57
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_prior361.95 19879.09 4472.53 132
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
HQP-NCC87.54 15194.06 4279.80 3374.18 115
ACMP_Plane87.54 15194.06 4279.80 3374.18 115
BP-MVS77.63 86
HQP4-MVS74.18 11595.61 11688.63 167
HQP3-MVS91.70 11678.90 142
HQP2-MVS51.63 178
MDTV_nov1_ep13_2view59.90 22780.13 27467.65 21072.79 12754.33 14959.83 22192.58 125
ACMMP++_ref71.63 184
ACMMP++69.72 193
Test By Simon54.21 151