This table lists the benchmark results for the low-res two-view scenario. This benchmark evaluates the Middlebury stereo metrics (for all metrics, smaller is better):

The mask determines whether the metric is evaluated for all pixels with ground truth, or only for pixels which are visible in both images (non-occluded).
The coverage selector allows to limit the table to results for all pixels (dense), or a given minimum fraction of pixels.

Methods with suffix _ROB may participate in the Robust Vision Challenge.

Click one or more dataset result cells or column headers to show visualizations. Most visualizations are only available for training datasets. The visualizations may not work with mobile browsers.




Method Infoalllakes. 1llakes. 1ssand box 1lsand box 1sstora. room 1lstora. room 1sstora. room 2lstora. room 2sstora. room 2 1lstora. room 2 1sstora. room 2 2lstora. room 2 2sstora. room 3lstora. room 3stunnel 1ltunnel 1stunnel 2ltunnel 2stunnel 3ltunnel 3s
sort bysort bysort bysort bysort bysort bysort bysort bysort bysort bysort bysort bysorted bysort bysort bysort bysort bysort bysort bysort bysort by
R-Stereotwo views2.44
1
0.32
1
1.93
1
0.94
2
0.16
2
3.67
6
0.61
12
6.37
2
3.08
1
9.14
25
17.44
51
1.80
1
0.77
1
1.76
1
0.70
1
0.00
1
0.01
22
0.00
1
0.00
1
0.01
1
0.03
7
R-Stereo Traintwo views2.44
1
0.32
1
1.93
1
0.94
2
0.16
2
3.67
6
0.61
12
6.37
2
3.08
1
9.14
25
17.44
51
1.80
1
0.77
1
1.76
1
0.70
1
0.00
1
0.01
22
0.00
1
0.00
1
0.01
1
0.03
7
DN-CSS_ROBtwo views2.69
3
1.40
45
5.34
29
2.31
39
0.75
16
3.14
4
0.06
1
6.11
1
3.87
3
5.34
5
12.18
29
2.34
3
1.22
3
7.84
12
1.48
3
0.03
30
0.00
1
0.00
1
0.00
1
0.35
49
0.03
7
MSMDNettwo views1.26
4
AdaStereotwo views3.09
5
0.58
10
3.04
7
2.84
50
0.48
11
4.08
11
1.29
23
12.16
32
7.77
14
6.03
7
9.62
13
5.79
8
1.53
5
4.56
4
1.93
5
0.00
1
0.00
1
0.00
1
0.00
1
0.02
4
0.02
2
Xiao Song, Guorun Yang, Xinge Zhu, Hui Zhou, Zhe Wang, Jianping Shi: AdaStereo: A Simple and Efficient Approach for Adaptive Stereo Matching. ArXiv
NOSS_ROBtwo views3.30
6
0.46
6
2.62
3
2.08
31
1.01
27
5.60
23
0.74
17
10.37
16
11.48
37
5.15
4
8.43
9
5.67
7
1.73
6
7.97
14
2.34
8
0.02
21
0.06
45
0.00
1
0.00
1
0.07
16
0.14
31
Anonymous Stereotwo views6.16
38
3.15
73
23.75
81
2.97
55
2.48
53
4.39
16
13.30
78
9.21
8
9.86
27
9.56
28
8.76
10
6.79
11
1.99
7
13.50
50
13.04
61
0.01
16
0.05
40
0.00
1
0.06
54
0.22
40
0.19
36
DeepPruner_ROBtwo views3.52
10
1.14
35
4.06
18
1.12
4
1.65
39
3.65
5
0.83
18
13.96
45
4.47
4
7.80
17
10.84
19
7.05
14
2.16
8
8.14
20
3.08
13
0.07
39
0.03
33
0.00
1
0.01
33
0.32
46
0.06
13
ccstwo views3.37
8
1.16
36
3.89
16
2.94
54
0.78
19
4.78
18
0.33
5
9.00
7
7.77
14
5.90
6
10.84
19
7.74
18
2.31
9
7.76
11
1.98
6
0.00
1
0.00
1
0.00
1
0.00
1
0.16
30
0.06
13
MLCVtwo views3.44
9
0.88
17
5.60
31
1.39
9
0.25
4
4.36
13
0.33
5
7.25
4
7.28
9
9.17
27
12.24
30
5.09
6
2.47
10
9.15
31
3.23
14
0.00
1
0.00
1
0.00
1
0.00
1
0.10
19
0.02
2
ccs_robtwo views3.63
11
1.12
34
4.42
21
2.52
43
0.91
23
5.50
21
0.21
3
10.11
14
9.11
22
6.55
12
11.28
24
8.32
22
2.55
11
7.66
9
2.01
7
0.00
1
0.00
1
0.00
1
0.00
1
0.20
35
0.08
17
AANet_RVCtwo views5.01
28
1.74
52
6.38
41
1.96
29
1.29
33
2.26
1
1.69
26
10.07
13
18.53
57
7.88
18
18.15
53
8.49
23
2.70
12
10.59
39
7.04
34
0.96
80
0.15
61
0.02
48
0.00
1
0.13
27
0.12
27
iResNettwo views3.68
12
0.91
20
7.94
51
2.97
55
0.34
6
4.44
17
0.48
10
7.70
5
9.74
26
7.72
16
12.74
33
4.03
5
2.87
13
8.05
16
3.37
16
0.02
21
0.01
22
0.00
1
0.00
1
0.10
19
0.09
19
HITNettwo views2.79
4
0.77
13
4.02
17
2.03
30
0.11
1
5.58
22
0.59
11
9.24
9
5.15
5
6.42
10
7.26
4
3.66
4
2.92
14
4.07
3
3.87
22
0.00
1
0.00
1
0.00
1
0.00
1
0.06
15
0.02
2
iResNet_ROBtwo views4.23
21
1.02
25
4.90
24
2.18
34
0.93
25
2.92
3
0.37
8
15.10
54
16.91
54
7.89
19
10.51
17
7.03
12
3.07
15
8.16
21
3.46
19
0.01
16
0.00
1
0.00
1
0.00
1
0.10
19
0.02
2
CFNettwo views3.72
13
1.10
32
5.03
25
2.49
42
1.59
36
4.90
19
0.22
4
11.38
24
9.88
28
4.80
2
11.25
23
6.44
10
3.68
16
8.33
22
3.00
11
0.00
1
0.00
1
0.00
1
0.00
1
0.22
40
0.07
15
DLCB_ROBtwo views4.51
24
0.91
20
3.78
14
2.19
35
1.07
29
6.28
24
3.09
29
9.78
11
7.72
12
10.65
34
12.97
34
13.91
44
3.71
17
8.72
26
5.30
28
0.00
1
0.00
1
0.00
1
0.00
1
0.03
9
0.10
25
StereoDRNet-Refinedtwo views4.46
23
0.62
12
3.80
15
1.92
25
0.40
8
9.35
35
0.15
2
10.02
12
8.83
21
12.69
45
11.62
26
9.34
24
3.87
18
8.06
17
8.02
37
0.00
1
0.00
1
0.01
39
0.05
53
0.20
35
0.26
43
Rohan Chabra, Julian Straub, Chris Sweeney, Richard Newcombe, Henry Fuchs: StereoDRNet. CVPR
NLCA_NET_v2_RVCtwo views3.84
14
1.06
27
5.23
27
2.72
49
3.27
58
4.36
13
0.61
12
10.71
21
7.56
11
8.75
21
7.89
6
9.86
27
3.90
19
7.15
7
3.44
18
0.14
47
0.02
29
0.02
48
0.03
45
0.04
10
0.03
7
Zhibo Rao, Mingyi He, Yuchao Dai, Zhidong Zhu, Bo Li, and Renjie He.: NLCA-Net: A non-local context attention network for stereo matching.
iResNetv2_ROBtwo views4.28
22
1.43
46
7.17
46
2.91
51
1.26
31
4.36
13
1.62
25
13.64
44
10.25
31
9.83
30
11.41
25
7.68
17
4.00
20
7.75
10
1.85
4
0.00
1
0.00
1
0.00
1
0.00
1
0.37
51
0.09
19
CC-Net-ROBtwo views3.84
14
1.07
28
5.23
27
2.65
47
2.96
56
4.22
12
0.69
16
10.43
17
7.72
12
8.78
22
8.29
8
9.61
26
4.02
21
7.16
8
3.65
21
0.13
46
0.03
33
0.02
48
0.03
45
0.05
12
0.03
7
PSMNet_ROBtwo views5.02
29
1.63
51
6.03
37
1.90
24
1.83
44
9.57
39
6.35
53
15.58
58
7.23
8
6.15
8
10.48
16
12.22
36
4.16
22
8.02
15
8.71
43
0.02
21
0.01
22
0.01
39
0.10
61
0.20
35
0.12
27
HSM-Net_RVCpermissivetwo views4.20
20
0.32
1
2.76
5
0.63
1
0.69
14
6.95
29
1.69
26
11.96
27
8.36
20
8.83
23
12.17
28
15.18
49
4.21
23
6.91
6
3.30
15
0.02
21
0.02
29
0.00
1
0.00
1
0.01
1
0.01
1
Gengshan Yang, Joshua Manela, Michael Happold, and Deva Ramanan: Hierarchical Deep Stereo Matching on High-resolution Images. CVPR 2019
SGM-Foresttwo views4.96
26
0.32
1
2.84
6
1.21
5
0.64
12
10.23
44
6.64
56
11.55
25
10.98
33
10.94
37
13.59
37
11.65
34
4.30
24
8.94
30
4.63
26
0.11
43
0.04
37
0.00
1
0.00
1
0.05
12
0.46
53
Johannes L. Schönberger, Sudipta Sinha, Marc Pollefeys: Learning to Fuse Proposals from Multiple Scanline Optimizations in Semi-Global Matching. ECCV 2018
CFNet_RVCtwo views3.31
7
0.94
23
2.69
4
1.50
12
2.38
50
2.81
2
0.68
15
8.35
6
7.43
10
4.45
1
9.94
14
10.20
28
4.60
25
6.49
5
3.41
17
0.00
1
0.00
1
0.03
54
0.00
1
0.22
40
0.03
7
StereoDRNettwo views5.59
31
1.75
53
6.80
43
3.12
57
4.45
72
10.61
46
4.35
41
18.80
67
9.73
25
12.22
41
6.87
1
11.44
33
4.65
26
8.09
19
8.26
39
0.02
21
0.11
54
0.00
1
0.03
45
0.20
35
0.28
45
MDST_ROBtwo views8.37
53
0.32
1
9.03
54
4.18
70
2.42
52
26.86
80
6.14
48
19.36
71
13.52
41
27.09
78
22.75
59
9.47
25
4.74
27
15.06
59
6.34
30
0.02
21
0.02
29
0.00
1
0.00
1
0.02
4
0.13
30
TDLMtwo views4.11
17
1.11
33
3.54
11
1.62
16
1.04
28
3.91
9
7.41
61
10.60
20
10.67
32
6.38
9
12.59
32
5.95
9
4.77
28
8.79
28
3.04
12
0.58
73
0.00
1
0.01
39
0.00
1
0.19
34
0.12
27
NVstereo2Dtwo views4.51
24
0.82
15
6.86
44
3.28
60
3.38
61
8.16
32
3.13
30
10.51
18
15.15
46
4.90
3
6.89
2
7.87
19
4.78
29
9.88
35
3.91
23
0.01
16
0.00
1
0.00
1
0.06
54
0.02
4
0.58
59
PDISCO_ROBtwo views9.62
61
1.99
59
11.51
59
9.88
85
9.61
86
21.48
74
3.83
37
19.33
70
28.49
75
11.27
38
14.17
40
19.92
63
5.02
30
16.35
64
9.18
46
5.28
86
0.41
74
0.14
67
0.09
60
2.05
81
2.36
82
LALA_ROBtwo views6.58
43
1.80
56
6.25
38
1.26
6
0.94
26
10.08
41
9.02
63
16.00
59
11.51
38
12.74
46
13.02
35
24.77
70
5.25
31
10.56
38
8.02
37
0.04
33
0.05
40
0.00
1
0.02
38
0.10
19
0.25
41
DRN-Testtwo views5.87
33
0.98
24
5.89
36
2.69
48
3.65
65
12.37
51
3.35
33
20.07
75
10.20
30
11.93
40
12.31
31
11.06
32
5.31
32
7.89
13
9.05
45
0.04
33
0.05
40
0.04
59
0.04
51
0.18
33
0.25
41
HSMtwo views4.00
16
0.79
14
3.16
9
1.59
15
2.17
48
6.77
27
1.11
19
12.28
33
6.35
6
6.75
13
8.11
7
13.90
43
5.37
33
8.85
29
2.71
10
0.00
1
0.00
1
0.00
1
0.00
1
0.02
4
0.02
2
NaN_ROBtwo views6.00
35
1.24
40
6.29
39
1.34
8
1.68
41
9.60
40
10.31
71
15.09
52
15.79
48
12.62
44
8.95
12
11.67
35
5.83
34
11.78
42
6.41
31
0.05
36
0.13
57
0.08
63
0.20
65
0.22
40
0.79
66
ETE_ROBtwo views5.80
32
1.77
54
6.33
40
1.44
11
0.78
19
6.43
26
6.90
57
12.53
36
8.08
16
12.93
49
14.89
43
21.13
66
5.87
35
9.83
34
6.57
32
0.04
33
0.01
22
0.00
1
0.02
38
0.08
18
0.33
46
CBMV_ROBtwo views4.14
18
0.52
7
3.14
8
1.30
7
0.77
18
6.92
28
1.97
28
10.11
14
9.58
24
8.92
24
14.20
41
7.12
15
5.90
36
8.65
25
3.50
20
0.01
16
0.05
40
0.00
1
0.00
1
0.04
10
0.09
19
DISCOtwo views6.28
40
0.57
9
5.78
34
3.43
62
1.17
30
11.22
47
3.39
34
12.14
31
16.16
50
6.52
11
11.22
22
16.96
52
6.32
37
19.51
71
10.74
52
0.00
1
0.00
1
0.00
1
0.00
1
0.35
49
0.11
26
CBMVpermissivetwo views5.35
30
0.91
20
3.67
13
1.62
16
0.44
10
10.09
42
7.19
60
12.49
35
12.33
39
12.22
41
14.69
42
10.93
30
6.48
38
8.51
23
4.96
27
0.02
21
0.15
61
0.00
1
0.00
1
0.17
32
0.17
34
Konstantinos Batsos, Changjiang Cai, Philippos Mordohai: CBMV: A Coalesced Bidirectional Matching Volume for Disparity Estimation. Computer Vision and Pattern Recognition (CVPR) 2018
PA-Nettwo views4.98
27
1.47
47
7.42
48
2.40
40
2.14
47
8.73
33
3.64
36
12.42
34
13.11
40
7.03
14
7.57
5
7.88
20
6.52
39
10.16
36
7.82
36
0.02
21
0.03
33
0.00
1
0.00
1
0.11
23
1.07
71
Zhibo Rao, Mingyi He, Yuchao Dai, Zhelun Shen: Patch Attention Network with Generative Adversarial Model for Semi-Supervised Binocular Disparity Prediction.
CVANet_RVCtwo views4.16
19
1.16
36
3.60
12
1.94
28
1.46
34
3.92
10
4.68
43
10.89
23
8.34
19
7.58
15
10.84
19
10.27
29
6.62
40
8.56
24
2.69
9
0.39
65
0.00
1
0.00
1
0.01
33
0.21
39
0.09
19
XPNet_ROBtwo views6.03
37
1.22
38
5.61
32
2.56
46
0.90
22
6.32
25
7.07
58
12.92
39
8.30
18
14.76
57
15.13
45
19.84
62
6.66
41
10.36
37
8.58
42
0.02
21
0.04
37
0.00
1
0.03
45
0.11
23
0.24
40
DANettwo views6.02
36
1.23
39
8.45
53
3.86
68
3.94
67
7.64
31
1.34
24
9.51
10
7.00
7
13.39
51
15.53
46
15.99
50
7.02
42
12.14
43
12.37
58
0.19
51
0.12
55
0.02
48
0.03
45
0.13
27
0.56
58
NCCL2two views5.88
34
1.59
49
5.44
30
1.87
21
0.92
24
9.55
38
11.55
75
12.11
29
9.94
29
9.67
29
8.85
11
22.28
67
7.41
43
8.78
27
7.17
35
0.01
16
0.00
1
0.03
54
0.00
1
0.13
27
0.23
38
RTSCtwo views9.15
56
3.00
70
13.57
66
3.72
66
1.76
43
11.82
50
0.46
9
16.95
63
36.83
82
15.80
58
15.53
46
12.91
39
7.46
44
20.01
73
21.76
74
0.31
61
0.13
57
0.01
39
0.08
57
0.57
58
0.41
50
GANettwo views6.22
39
1.07
28
4.07
19
2.27
37
0.89
21
9.19
34
9.52
66
12.02
28
8.13
17
10.72
35
29.09
69
13.86
42
7.52
45
11.00
40
4.39
24
0.36
64
0.00
1
0.02
48
0.02
38
0.12
25
0.08
17
DeepPrunerFtwo views6.75
44
2.69
66
23.31
80
3.68
64
7.16
81
3.78
8
4.29
40
13.42
42
20.13
63
8.13
20
10.46
15
7.18
16
8.06
46
11.10
41
9.44
47
0.24
54
0.15
61
0.29
71
0.42
75
0.66
63
0.45
51
GANetREF_RVCpermissivetwo views6.56
42
2.89
68
7.58
50
3.41
61
0.40
8
12.96
54
9.58
67
15.09
52
17.25
56
10.33
32
10.62
18
12.27
37
8.16
47
12.21
44
4.53
25
0.41
67
0.00
1
0.00
1
0.02
38
3.12
83
0.39
48
Zhang, Feihu and Prisacariu, Victor and Yang, Ruigang and Torr, Philip HS: GA-Net: Guided Aggregation Net for End- to-end Stereo Matching. CVPR 2019
pmcnntwo views7.72
48
1.27
41
9.42
56
2.91
51
3.14
57
9.44
36
6.23
50
12.56
37
16.51
52
14.53
55
24.08
60
27.44
76
8.49
48
9.32
32
8.44
41
0.06
38
0.08
50
0.00
1
0.00
1
0.30
45
0.15
32
RYNettwo views6.34
41
0.89
19
5.88
35
1.41
10
4.48
74
15.97
62
4.18
39
13.41
41
16.49
51
10.81
36
7.00
3
14.33
46
8.72
49
9.43
33
13.71
62
0.00
1
0.01
22
0.00
1
0.00
1
0.02
4
0.07
15
ADCReftwo views7.27
45
1.38
44
16.37
70
2.52
43
3.30
60
11.63
49
3.16
31
10.80
22
9.35
23
13.03
50
25.27
63
8.17
21
8.92
50
8.06
17
21.81
75
0.15
48
0.08
50
0.16
68
0.34
72
0.38
52
0.58
59
stereogantwo views7.69
47
0.88
17
7.08
45
3.49
63
3.93
66
18.98
69
3.23
32
16.52
61
19.58
61
9.93
31
18.92
54
20.50
64
9.04
51
14.07
54
6.14
29
0.26
56
0.04
37
0.21
69
0.03
45
0.63
62
0.33
46
PWCDC_ROBbinarytwo views7.92
50
3.17
74
7.48
49
5.73
80
4.40
70
10.45
45
0.35
7
14.52
50
28.19
74
10.36
33
31.27
72
7.04
13
9.14
52
13.22
49
8.78
44
2.74
84
0.02
29
0.00
1
0.00
1
1.31
76
0.17
34
PASMtwo views7.90
49
4.22
77
21.97
78
3.25
59
3.29
59
5.39
20
6.57
55
10.57
19
19.09
59
12.77
47
13.92
39
18.11
56
9.51
53
13.79
53
10.77
54
0.19
51
0.45
77
0.29
71
1.08
82
1.49
78
1.19
73
FBW_ROBtwo views8.50
55
1.03
26
7.98
52
1.93
27
1.28
32
13.10
55
6.23
50
22.50
79
18.98
58
18.82
64
14.91
44
19.06
59
10.04
54
18.41
68
9.83
49
0.62
74
0.22
66
1.82
85
0.82
80
0.99
70
1.36
76
PWC_ROBbinarytwo views8.24
52
3.13
71
12.74
63
2.43
41
4.43
71
7.51
30
1.22
20
16.63
62
19.24
60
16.08
59
28.29
67
13.99
45
10.16
55
13.63
52
14.06
63
0.42
70
0.00
1
0.05
61
0.00
1
0.59
60
0.27
44
XQCtwo views8.43
54
3.58
75
16.40
71
2.92
53
2.17
48
13.22
56
3.60
35
14.64
51
25.86
71
11.87
39
12.04
27
15.06
48
10.67
56
15.24
60
19.41
68
0.39
65
0.08
50
0.05
61
0.07
56
0.84
66
0.45
51
ADCP+two views8.09
51
1.79
55
14.50
67
1.54
13
4.28
69
16.57
64
5.20
45
12.80
38
11.20
35
12.83
48
17.07
49
11.02
31
10.80
57
17.59
66
23.18
78
0.03
30
0.05
40
0.01
39
0.18
63
0.39
55
0.81
67
ADCPNettwo views9.54
59
2.39
63
31.46
83
2.09
32
1.60
37
16.71
66
6.39
54
12.11
29
11.45
36
13.53
52
21.45
57
19.41
60
10.94
58
14.38
56
21.54
73
0.27
59
1.16
81
0.39
77
1.49
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0.58
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1.45
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LSMtwo views14.01
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5.95
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33.49
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6.78
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43.61
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10.22
43
9.98
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15.16
55
22.93
67
23.07
74
32.34
75
18.52
57
12.67
59
15.45
61
11.10
55
0.16
49
0.51
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0.09
65
0.32
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1.08
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16.85
90
SAMSARAtwo views14.63
75
2.74
67
12.38
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12.65
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6.74
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36.50
86
72.93
93
19.36
71
23.77
69
16.20
60
13.04
36
29.21
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12.78
60
16.98
65
15.21
64
0.11
43
0.26
69
0.03
54
0.14
62
0.76
65
0.77
65
SHDtwo views9.61
60
2.60
65
12.46
62
3.69
65
3.54
63
9.47
37
1.25
21
20.16
76
37.84
85
18.19
63
21.24
56
16.96
52
12.83
61
14.47
58
16.05
66
0.32
62
0.13
57
0.01
39
0.08
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0.38
52
0.48
54
CSANtwo views7.62
46
1.60
50
6.56
42
1.83
19
0.66
13
12.40
52
10.52
73
14.45
49
21.32
65
14.19
53
15.98
48
17.84
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13.02
62
12.32
45
8.38
40
0.09
41
0.07
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0.03
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0.04
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0.33
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0.67
64
AnyNet_C32two views10.98
68
5.58
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22.79
79
4.16
69
5.83
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15.64
61
14.30
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13.18
40
17.15
55
16.44
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20.52
55
14.68
47
13.44
63
22.46
75
30.08
86
0.17
50
0.26
69
0.36
75
0.36
73
1.23
74
0.91
69
ADCLtwo views10.16
64
2.11
60
19.36
76
1.92
25
1.88
45
22.23
75
8.91
62
14.04
46
23.56
68
14.62
56
26.19
64
12.75
38
13.59
64
16.06
63
22.95
77
0.26
56
0.18
64
0.75
80
0.65
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0.69
64
0.58
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AnyNet_C01two views16.12
80
10.81
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59.36
88
4.42
72
2.49
54
30.06
82
15.15
85
17.51
64
16.51
52
17.88
62
37.69
81
24.04
69
17.54
65
29.60
83
33.29
89
0.28
60
0.38
72
0.43
78
0.42
75
2.57
82
1.98
79
WCMA_ROBtwo views9.21
57
0.87
16
7.37
47
2.54
45
2.13
46
13.59
57
5.80
47
11.64
26
14.01
42
24.43
76
32.99
76
27.09
75
18.02
66
12.51
47
9.85
50
0.81
77
0.07
48
0.01
39
0.01
33
0.16
30
0.23
38
DPSNettwo views10.14
63
1.88
58
16.82
72
1.85
20
1.73
42
24.84
78
17.20
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19.92
74
27.41
73
12.23
43
13.62
38
16.52
51
18.35
67
14.42
57
12.50
59
0.78
75
0.54
79
0.08
63
0.25
69
1.18
73
0.59
62
DispFullNettwo views17.47
85
26.01
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33.98
85
22.58
89
20.86
89
13.84
59
1.28
22
16.50
60
26.27
72
19.97
67
17.17
50
20.52
65
18.49
68
22.86
76
10.76
53
5.13
85
2.83
86
30.72
91
7.72
88
20.86
89
11.01
89
ADCStwo views13.02
71
4.93
78
28.38
82
3.17
58
2.67
55
13.61
58
10.83
74
18.70
66
33.46
79
22.59
70
24.78
62
19.59
61
18.51
69
23.40
77
32.16
88
0.10
42
0.19
65
0.37
76
0.18
63
1.26
75
1.46
78
SGM_RVCbinarytwo views10.08
62
0.60
11
3.42
10
2.30
38
0.32
5
19.41
70
6.33
52
18.95
68
14.64
43
25.14
77
24.32
61
33.34
81
18.79
70
19.86
72
12.55
60
0.25
55
0.26
69
0.22
70
0.24
68
0.34
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0.40
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SANettwo views10.64
66
1.86
57
10.91
58
1.76
18
0.71
15
14.62
60
9.23
65
19.18
69
37.14
83
19.22
65
27.96
66
25.86
73
19.11
71
13.02
48
10.63
51
0.08
40
0.06
45
0.03
54
0.02
38
0.62
61
0.81
67
RTStwo views18.87
86
9.32
85
86.48
91
4.95
77
6.10
78
42.08
88
14.70
81
15.49
56
41.06
86
22.65
71
32.32
73
13.77
40
19.54
72
37.98
87
28.96
83
0.41
67
0.23
67
0.00
1
0.02
38
0.91
67
0.50
55
RTSAtwo views18.87
86
9.32
85
86.48
91
4.95
77
6.10
78
42.08
88
14.70
81
15.49
56
41.06
86
22.65
71
32.32
73
13.77
40
19.54
72
37.98
87
28.96
83
0.41
67
0.23
67
0.00
1
0.02
38
0.91
67
0.50
55
ADCMidtwo views10.24
65
3.13
71
20.70
77
2.21
36
2.39
51
11.23
48
6.19
49
14.17
47
11.19
34
23.20
75
22.25
58
17.89
55
19.54
72
18.51
69
26.21
81
0.45
71
0.42
76
1.10
82
1.29
83
1.56
80
1.18
72
Nwc_Nettwo views12.96
70
2.43
64
15.29
69
4.46
73
3.56
64
24.49
77
12.36
77
27.85
86
21.14
64
14.50
54
27.22
65
22.84
68
20.00
75
31.34
84
29.17
85
0.78
75
0.12
55
0.00
1
0.01
33
0.95
69
0.63
63
MSMD_ROBtwo views9.28
58
1.09
31
4.65
23
1.58
14
0.39
7
16.52
63
4.41
42
13.60
43
14.87
45
22.34
69
39.89
83
25.67
72
20.71
76
12.42
46
6.98
33
0.34
63
0.03
33
0.00
1
0.00
1
0.05
12
0.09
19
MeshStereopermissivetwo views11.52
69
1.52
48
4.55
22
1.89
23
1.46
34
19.87
72
5.11
44
20.66
77
15.91
49
32.67
84
34.51
78
39.34
87
21.15
77
18.74
70
12.10
57
0.11
43
0.06
45
0.01
39
0.00
1
0.45
57
0.22
37
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SPS-STEREOcopylefttwo views15.04
76
6.23
81
13.21
65
11.34
86
11.65
88
23.30
76
7.15
59
24.16
81
15.65
47
31.78
83
29.19
70
31.62
79
21.32
78
24.62
78
19.50
69
7.59
88
4.19
89
3.22
86
1.48
84
6.99
88
6.54
84
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FC-DCNNcopylefttwo views10.72
67
0.52
7
4.27
20
1.88
22
1.63
38
17.18
67
5.29
46
18.20
65
19.69
62
28.50
79
34.51
78
34.03
82
21.48
79
15.89
62
11.15
56
0.03
30
0.01
22
0.02
48
0.01
33
0.07
16
0.09
19
SGM+DAISYtwo views15.62
78
7.26
83
19.28
75
8.94
83
10.11
87
26.25
79
10.49
72
19.36
71
14.65
44
30.64
81
33.59
77
33.00
80
22.32
80
24.96
79
16.42
67
7.90
89
6.25
90
4.51
87
3.37
86
5.86
87
7.20
86
Abc-Nettwo views13.06
72
3.78
76
19.11
74
4.54
74
4.15
68
20.62
73
14.20
79
27.91
87
21.69
66
19.32
66
39.81
82
25.95
74
23.31
81
17.98
67
15.83
65
0.45
71
0.14
60
0.01
39
0.08
57
1.13
72
1.27
74
NVStereoNet_ROBtwo views16.04
79
6.75
82
12.90
64
6.37
81
7.42
84
12.89
53
9.74
68
22.78
80
25.12
70
30.32
80
46.19
89
34.37
83
25.38
82
21.48
74
21.38
71
5.94
87
3.10
87
6.07
88
10.09
90
4.01
84
8.54
88
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PWCKtwo views30.53
90
44.32
91
47.25
87
29.76
90
7.23
82
40.78
87
27.10
88
44.73
90
44.32
88
47.31
90
36.37
80
47.16
88
26.05
83
41.26
89
31.87
87
21.83
90
4.03
88
29.50
90
4.67
87
27.17
90
7.80
87
MFMNet_retwo views13.29
73
8.60
84
18.29
73
9.75
84
7.25
83
19.65
71
14.84
83
20.71
78
30.72
77
23.03
73
28.77
68
18.85
58
26.09
84
13.55
51
9.82
48
2.44
83
1.35
84
0.34
74
0.23
67
4.78
86
6.69
85
ELAS_RVCcopylefttwo views16.54
81
2.26
62
10.09
57
5.50
79
4.46
73
28.28
81
16.72
86
25.55
82
33.54
80
40.19
86
40.30
85
36.68
85
30.03
85
29.40
82
20.61
70
0.98
81
1.21
82
0.86
81
0.70
78
1.39
77
2.16
80
A. Geiger, M. Roser, R. Urtasun: Efficient large-scale stereo matching. ACCV 2010
ELAScopylefttwo views16.72
82
2.14
61
9.23
55
4.92
76
4.53
75
32.66
85
15.11
84
27.40
83
28.68
76
40.27
87
44.90
88
38.33
86
30.50
86
26.44
81
21.94
76
0.88
78
1.23
83
0.67
79
0.89
81
1.49
78
2.18
81
A. Geiger, M. Roser, R. Urtasun: Efficient large-scale stereo matching. ACCV 2010
PVDtwo views15.44
77
2.93
69
14.67
68
4.21
71
3.39
62
17.43
68
4.16
38
27.84
85
48.84
89
31.02
82
43.54
87
29.76
78
30.81
87
25.97
80
21.40
72
0.23
53
0.41
74
0.04
59
0.33
71
0.41
56
1.33
75
MADNet+two views27.07
89
33.84
89
90.97
93
20.14
88
7.47
85
48.43
90
47.10
89
35.43
89
36.46
81
20.11
68
30.05
71
25.29
71
35.08
88
45.50
90
50.28
91
2.13
82
2.00
85
1.19
84
0.76
79
4.71
85
4.43
83
SGM-ForestMtwo views16.99
84
1.08
30
5.74
33
2.12
33
0.75
16
31.63
84
12.21
76
27.80
84
32.25
78
37.88
85
39.99
84
52.96
91
35.20
89
33.60
86
24.47
79
0.26
56
0.39
73
0.31
73
0.39
74
0.26
44
0.53
57
LE_ROBtwo views16.73
83
1.28
43
11.61
60
3.72
66
1.65
39
16.67
65
9.17
64
14.39
48
55.91
91
63.81
91
40.86
86
35.94
84
37.73
90
14.24
55
26.87
82
0.05
36
0.10
53
0.13
66
0.22
66
0.12
25
0.15
32
MANEtwo views19.47
88
1.27
41
5.07
26
4.69
75
5.55
76
30.49
83
9.94
69
34.01
88
37.27
84
44.13
89
51.57
91
52.51
90
40.41
91
33.58
85
24.81
80
0.89
79
0.86
80
1.11
83
9.72
89
0.38
52
1.06
70
edge stereotwo views42.36
91
35.18
90
61.87
89
36.69
91
34.28
90
64.01
92
49.25
90
49.10
91
51.11
90
41.69
88
62.57
92
47.20
89
43.96
92
46.98
92
45.63
90
23.51
91
25.35
91
23.07
89
25.55
91
40.35
91
39.91
91
DPSimNet_ROBtwo views53.45
92
64.73
92
44.39
86
53.97
92
45.39
92
53.66
91
54.83
91
55.15
92
57.87
92
64.16
92
50.83
90
63.40
92
53.34
93
46.45
91
65.81
92
63.13
92
26.54
92
57.94
92
51.11
92
45.52
92
50.69
92
MADNet++two views82.84
93
82.38
93
73.57
90
87.72
93
82.97
93
93.14
93
69.15
92
86.42
93
82.50
93
93.46
93
86.70
93
86.28
93
80.92
94
88.34
93
88.84
93
86.83
93
84.17
93
72.64
93
68.92
93
80.47
93
81.42
93
MEDIAN_ROBtwo views98.41
94
99.70
94
99.30
95
97.09
94
97.02
94
96.89
94
95.77
95
97.66
94
97.28
94
98.79
96
98.94
94
99.18
94
98.14
95
96.89
94
96.88
94
99.96
96
99.16
94
100.00
94
99.99
94
99.69
94
99.88
94
DPSMtwo views99.95
98
100.00
96
100.00
98
99.76
95
100.00
95
100.00
96
100.00
96
100.00
97
100.00
95
100.00
97
100.00
95
100.00
97
100.00
96
100.00
97
100.00
98
99.21
94
100.00
95
100.00
94
100.00
95
99.99
95
99.95
95
DPSM_ROBtwo views99.95
98
100.00
96
100.00
98
99.76
95
100.00
95
100.00
96
100.00
96
100.00
97
100.00
95
100.00
97
100.00
95
100.00
97
100.00
96
100.00
97
100.00
98
99.21
94
100.00
95
100.00
94
100.00
95
99.99
95
99.95
95
DGTPSM_ROBtwo views99.90
96
100.00
96
99.99
96
99.99
97
100.00
95
100.00
96
100.00
96
99.97
95
100.00
95
98.35
94
100.00
95
99.84
95
100.00
96
99.98
95
99.99
95
99.99
97
100.00
95
100.00
94
100.00
95
100.00
97
100.00
98
DPSMNet_ROBtwo views99.91
97
100.00
96
99.99
96
99.99
97
100.00
95
100.00
96
100.00
96
99.98
96
100.00
95
98.35
94
100.00
95
99.84
95
100.00
96
99.98
95
99.99
95
100.00
98
100.00
95
100.00
94
100.00
95
100.00
97
100.00
98
AVERAGE_ROBtwo views99.62
95
99.95
95
98.81
94
100.00
99
100.00
95
98.08
95
95.47
94
100.00
97
100.00
95
100.00
97
100.00
95
100.00
97
100.00
96
100.00
97
99.99
95
100.00
98
100.00
95
100.00
94
100.00
95
100.00
97
100.00
98
LSM0two views100.00
100
100.00
96
100.00
98
100.00
99
100.00
95
100.00
96
100.00
96
100.00
97
100.00
95
100.00
97
100.00
95
100.00
97
100.00
96
100.00
97
100.00
98
100.00
98
100.00
95
100.00
94
100.00
95
100.00
97
99.99
97