This table lists the benchmark results for the high-res multi-view scenario.
The following metrics are evaluated:
Accuracy [%]: The fraction of the reconstruction which is closer to the ground truth than the evaluation threshold distance (*). Larger is better.Completeness [%]: The fraction of the ground truth which is closer to the reconstruction than the evaluation threshold distance (*). Larger is better.F1 score [%]: The harmonic mean of accuracy and completeness, used to rank methods based on both metrics. Larger is better.Time [s]: The runtime of the method. Smaller is better.
(*) For exact definitions, detailing how potentially incomplete ground truth is taken into account, see our paper .
The datasets are grouped into different categories, and result averages are computed for a category and method if results of the method are available for all datasets within the category.
Note that the category "all" includes both the high-res multi-view and the low-res many-view scenarios.
Methods with suffix _ROB may participate in the Robust Vision Challenge .
training datasets , ground truth and accuracy / completeness visualizations are also available. The visualizations may not work with mobile browsers.
Set : Test
Metric : F1 score [%]
Tolerance : 10cm
Method
Info all high-res indoor outdoor botani. boulde. bridge door exhibi. lectur. living. lounge observ. old co. statue terrac.
DeepPCF-MVS 93.97 1 96.61 1 97.09 1 95.15 15 98.09 9 86.63 22 96.00 20 98.15 2 95.43 1 97.95 1 98.56 1 93.40 1 99.36 12 96.77 1 99.48 1 99.45 2 DeepC-MVS_fast 93.61 2 96.60 2 96.24 2 97.67 2 98.94 1 93.87 2 97.63 6 98.03 4 94.63 3 95.05 4 98.37 2 89.68 2 99.69 6 94.44 3 99.38 2 99.47 1 DeepC-MVS 93.30 3 96.33 3 95.98 3 97.37 4 98.44 4 93.52 3 97.55 8 97.89 5 93.86 5 95.04 5 98.34 3 89.34 3 99.70 5 94.45 2 98.89 5 98.90 6 MG-MVS 95.61 4 95.38 4 96.31 9 98.42 5 90.53 11 96.04 19 97.48 11 93.47 7 95.67 2 98.10 5 89.17 4 99.25 14 91.27 9 98.77 6 99.13 5 3Dnovator+ 91.43 4 95.40 5 94.48 6 98.16 1 96.90 14 95.34 1 98.48 2 97.87 6 94.65 2 88.53 16 98.02 7 83.69 12 99.71 4 93.18 5 98.96 4 99.44 3 3Dnovator 91.36 5 95.19 6 94.44 7 97.44 3 96.56 16 93.36 4 98.65 1 98.36 1 94.12 4 89.25 14 98.06 6 82.20 14 99.77 1 93.41 4 99.32 3 99.18 4 AP-MVS 95.15 7 94.87 5 95.97 12 98.33 7 90.48 12 97.14 12 97.52 10 93.73 6 95.19 3 97.96 8 86.25 7 99.08 15 91.51 8 96.20 15 98.35 7 AdaColmap 94.34 8 93.68 8 96.31 9 98.59 2 91.68 8 96.59 17 97.81 7 89.87 12 92.15 7 97.06 13 83.62 13 99.54 8 89.34 11 98.07 11 97.70 12 MAR-MVS 94.22 9 93.46 9 96.51 5 98.00 10 92.19 7 97.67 4 97.47 12 88.13 15 93.00 6 95.84 23 84.86 9 99.51 10 87.99 12 98.17 10 97.83 10 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 PLC 91.00 6 94.11 10 93.43 10 96.13 11 98.58 3 91.15 10 96.69 16 97.39 14 87.29 19 91.37 9 96.71 14 88.39 5 99.52 9 87.33 14 97.13 13 97.73 11 Jie Liao, Yanping Fu, Qingan Yan, Chunxia xiao: Pyramid Multi-View Stereo with Local Consistency . Pacific Graphics 2019 F-COLMAP 93.58 11 92.98 11 95.37 14 98.40 6 88.98 16 97.18 11 97.29 16 87.75 17 90.49 11 97.10 12 85.21 8 99.50 11 86.70 15 96.72 14 97.63 13 LS3D 93.57 12 92.61 12 96.47 6 97.59 12 91.61 9 97.67 4 97.72 8 85.17 21 90.29 12 98.34 3 84.60 10 99.73 3 83.85 20 98.27 9 98.06 9 CLD-MVS 92.98 13 92.53 13 94.32 18 96.12 22 89.20 15 95.28 22 97.47 12 92.66 8 89.90 13 95.62 24 80.58 15 98.40 23 92.73 6 92.40 18 95.38 18 Zhaoxin Li, Wangmeng Zuo, Zhaoqi Wang, Lei Zhang: Confidence-based Large-scale Dense Multi-view Stereo . IEEE Transaction on Image Processing, 2020 ACMM 89.79 8 92.96 14 92.50 14 94.35 17 96.30 19 88.71 18 97.58 7 97.36 15 91.40 11 90.53 10 96.65 15 79.77 17 98.75 18 91.24 10 91.64 19 95.59 17 Qingshan Xu and Wenbing Tao: Multi-Scale Geometric Consistency Guided Multi-View Stereo . CVPR 2019 OpenMVS 89.19 11 92.86 15 91.68 16 96.40 7 95.34 23 92.73 5 98.27 3 98.12 3 84.86 22 85.78 21 97.75 9 78.89 18 99.74 2 87.50 13 98.65 7 96.73 16 ACMP 89.59 9 92.62 16 92.14 15 94.05 20 96.40 18 88.20 19 97.36 9 97.25 18 91.52 9 88.30 17 96.64 16 78.46 20 98.72 19 91.86 7 91.48 20 95.23 20 Qingshan Xu and Wenbing Tao: Planar Prior Assisted PatchMatch Multi-View Stereo . AAAI 2020 TAPA-MVS 90.10 7 92.30 17 91.22 17 95.56 13 98.33 7 89.60 13 96.79 15 97.65 9 81.83 25 91.52 8 97.23 10 87.94 6 98.91 17 71.31 27 98.37 8 98.17 8 Andrea Romanoni, Matteo Matteucci: TAPA-MVS: Textureless-Aware PAtchMatch Multi-View Stereo . ICCV 2019 PCF-MVS 89.48 10 91.56 18 89.95 19 96.36 8 96.60 15 92.52 6 92.51 26 97.26 17 79.41 26 88.90 15 96.56 17 84.04 11 99.55 7 77.01 26 97.30 12 97.01 14 Andreas Kuhn, Shan Lin, Oliver Erdler: Plane Completion and Filtering for Multi-View Stereo Reconstruction . GCPR 2019 MSDG 91.42 19 90.24 18 94.96 16 97.15 13 88.91 17 93.69 25 96.32 23 85.72 20 86.93 19 96.47 18 80.24 16 98.98 16 80.57 24 95.05 16 96.98 15 LTVRE_ROB 88.41 12 90.99 20 89.92 20 94.19 19 96.18 21 89.55 14 96.31 18 97.09 19 87.88 16 85.67 22 95.91 22 78.79 19 98.57 21 81.50 23 89.98 22 94.44 24 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 ACMH 87.59 15 90.53 21 89.42 21 93.87 21 96.21 20 87.92 20 97.24 10 96.94 20 88.45 14 83.91 25 96.27 20 71.92 22 98.62 20 84.43 17 89.43 24 95.05 21 Qingshan Xu and Wenbing Tao: Multi-Scale Geometric Consistency Guided Multi-View Stereo . CVPR 2019 COLMAP_ROB 87.81 14 90.40 22 89.28 22 93.79 22 97.95 11 87.13 21 96.92 14 95.89 25 82.83 24 86.88 20 97.18 11 73.77 21 99.29 13 78.44 25 93.62 17 94.95 22 Johannes L. Schönberger, Enliang Zheng, Marc Pollefeys, Jan-Michael Frahm: Pixelwise View Selection for Unstructured Multi-View Stereo . ECCV 2016 ACMH+ 87.92 13 90.20 23 89.18 23 93.25 23 96.48 17 86.45 23 96.99 13 96.68 22 88.83 13 84.79 23 96.22 21 70.16 25 98.53 22 84.42 18 88.04 26 94.77 23 LF4IMVS 87.94 24 87.25 24 89.98 27 92.38 27 80.05 26 94.38 23 95.25 27 87.59 18 84.34 24 94.74 26 64.31 27 97.66 26 84.83 16 87.45 27 92.23 27 CMPMVS 62.92 18 85.62 25 84.92 25 87.74 28 89.14 30 73.12 29 94.17 24 96.80 21 73.98 28 73.65 28 94.93 25 66.36 26 97.61 28 83.95 19 91.28 21 92.48 26 M. Jancosek, T. Pajdla: Multi-View Reconstruction Preserving Weakly-Supported Surfaces . CVPR 2011 PVSNet_0 82.17 16 85.46 26 83.64 26 90.92 25 95.27 25 79.49 27 90.55 28 95.60 26 83.76 23 83.00 26 89.95 28 71.09 23 97.97 24 82.75 21 60.79 32 95.31 19 OpenMVS_ROB 81.14 17 84.42 27 82.28 27 90.83 26 90.06 29 84.05 25 95.73 21 94.04 29 73.89 29 80.17 27 91.53 27 59.15 28 97.64 27 66.92 28 89.05 25 90.80 28 FPMVS 71.27 28 69.85 28 75.50 30 74.64 31 59.03 33 91.30 27 91.50 30 58.80 31 57.92 30 88.28 29 29.98 31 85.53 31 53.43 31 82.84 28 81.95 30 Gipuma 67.86 29 65.41 29 75.18 31 92.66 26 73.45 28 66.50 34 94.52 28 53.33 32 57.80 31 66.07 34 30.81 30 89.20 29 48.15 34 78.88 29 62.90 36 S. Galliani, K. Lasinger, K. Schindler: Massively Parallel Multiview Stereopsis by Surface Normal Diffusion . ICCV 2015 ANet_high 63.94 30 59.58 30 77.02 29 61.24 36 66.06 30 85.66 29 87.93 31 78.53 27 42.94 32 71.04 32 25.42 32 80.71 33 52.60 32 30.83 36 84.28 29 PNet_i23d 59.01 31 55.87 31 68.44 34 73.98 32 51.37 35 81.36 30 82.41 34 52.37 33 42.49 33 70.39 33 11.39 33 79.99 35 49.77 33 38.71 34 73.97 33 PMVS 53.92 19 58.58 32 55.40 32 68.12 35 51.00 37 48.64 36 78.86 32 87.10 32 46.77 35 35.84 35 74.28 31 8.76 34 86.34 30 42.07 35 73.91 30 69.38 34 Y. Furukawa, J. Ponce: Accurate, dense, and robust multiview stereopsis . PAMI (2010) wuykxyi23d 56.92 33 51.11 33 74.38 33 62.30 35 61.47 32 80.09 31 84.87 33 49.62 34 30.80 36 57.20 36 7.03 35 82.94 32 55.69 30 32.36 35 78.72 32 MVE 50.73 20 53.25 34 48.81 34 66.58 36 65.34 34 57.50 34 72.49 33 70.94 36 40.15 36 39.28 34 63.51 35 6.89 37 73.48 36 38.29 36 42.38 33 68.76 35 Simon Fuhrmann, Fabian Langguth, Michael Goesele: MVE - A Multi-View Reconstruction Environment . EUROGRAPHICS Workshops on Graphics and Cultural Heritage (2014) wuyk23d 25.11 35 24.57 35 26.74 37 73.98 32 39.89 37 57.88 35 9.80 37 12.27 37 10.39 37 6.97 37 7.03 35 36.44 37 25.43 37 17.39 37 3.89 37 DeepMVS_CX 74.68 32 90.84 28 64.34 31 81.61 35 65.34 30 67.47 29 88.01 30 48.60 29 80.13 34 62.33 29 73.68 31 79.58 31 ITE_SJBPF 92.43 24 95.34 23 85.37 24 95.92 24 91.47 10 87.75 18 96.39 19 71.00 24 97.96 25 82.36 22 89.86 23 93.97 25
