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 bysort bysorted 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
27
17.44
52
1.80
1
0.77
1
1.76
1
0.70
1
0.00
1
0.01
23
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
27
17.44
52
1.80
1
0.77
1
1.76
1
0.70
1
0.00
1
0.01
23
0.00
1
0.00
1
0.01
1
0.03
7
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
AdaStereotwo views3.09
5
0.58
10
3.04
7
2.84
50
0.48
11
4.08
11
1.29
23
12.16
33
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
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
56
0.00
1
0.22
41
0.03
7
HSM-Net_RVCpermissivetwo views4.20
20
0.32
1
2.76
5
0.63
1
0.69
14
6.95
30
1.69
26
11.96
28
8.36
20
8.83
25
12.17
28
15.18
49
4.21
23
6.91
6
3.30
15
0.02
21
0.02
32
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
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
23
7.89
6
9.86
27
3.90
19
7.15
7
3.44
18
0.14
47
0.02
32
0.02
50
0.03
46
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.
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
24
8.29
8
9.61
26
4.02
21
7.16
8
3.65
21
0.13
46
0.03
36
0.02
50
0.03
46
0.05
12
0.03
7
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
36
0.08
17
iResNetv2_ROBtwo views4.28
22
1.43
47
7.17
50
2.91
51
1.26
31
4.36
13
1.62
25
13.64
45
10.25
31
9.83
34
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
55
0.09
19
ccstwo views3.37
8
1.16
36
3.89
16
2.94
55
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
31
0.06
13
DN-CSS_ROBtwo views2.69
3
1.40
46
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
53
0.03
7
DRN-Testtwo views5.87
33
0.98
24
5.89
37
2.69
48
3.65
65
12.37
56
3.35
35
20.07
79
10.20
30
11.93
45
12.31
31
11.06
32
5.31
32
7.89
13
9.05
48
0.04
33
0.05
43
0.04
61
0.04
52
0.18
34
0.25
44
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
48
0.00
1
0.00
1
0.07
16
0.14
32
PSMNet_ROBtwo views5.02
29
1.63
55
6.03
38
1.90
24
1.83
44
9.57
44
6.35
58
15.58
60
7.23
8
6.15
8
10.48
16
12.22
36
4.16
22
8.02
15
8.71
46
0.02
21
0.01
23
0.01
39
0.10
62
0.20
36
0.12
27
iResNettwo views3.68
12
0.91
20
7.94
56
2.97
56
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
23
0.00
1
0.00
1
0.10
19
0.09
19
StereoDRNet-Refinedtwo views4.46
23
0.62
12
3.80
15
1.92
25
0.40
8
9.35
40
0.15
2
10.02
12
8.83
21
12.69
50
11.62
26
9.34
24
3.87
18
8.06
17
8.02
39
0.00
1
0.00
1
0.01
39
0.05
54
0.20
36
0.26
47
Rohan Chabra, Julian Straub, Chris Sweeney, Richard Newcombe, Henry Fuchs: StereoDRNet. CVPR
ADCReftwo views7.27
48
1.38
45
16.37
75
2.52
43
3.30
60
11.63
54
3.16
33
10.80
22
9.35
23
13.03
55
25.27
68
8.17
21
8.92
50
8.06
17
21.81
80
0.15
48
0.08
53
0.16
72
0.34
75
0.38
56
0.58
64
StereoDRNettwo views5.59
31
1.75
57
6.80
47
3.12
58
4.45
73
10.61
51
4.35
46
18.80
70
9.73
25
12.22
46
6.87
1
11.44
33
4.65
26
8.09
19
8.26
42
0.02
21
0.11
58
0.00
1
0.03
46
0.20
36
0.28
49
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
46
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
36
0.00
1
0.01
34
0.32
49
0.06
13
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
55
16.91
58
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
41
0.07
15
CBMVpermissivetwo views5.35
30
0.91
20
3.67
13
1.62
16
0.44
10
10.09
47
7.19
65
12.49
36
12.33
40
12.22
46
14.69
42
10.93
30
6.48
38
8.51
23
4.96
27
0.02
21
0.15
66
0.00
1
0.00
1
0.17
33
0.17
35
Konstantinos Batsos, Changjiang Cai, Philippos Mordohai: CBMV: A Coalesced Bidirectional Matching Volume for Disparity Estimation. Computer Vision and Pattern Recognition (CVPR) 2018
CVANet_RVCtwo views4.16
19
1.16
36
3.60
12
1.94
28
1.46
34
3.92
10
4.68
48
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
34
0.21
40
0.09
19
CBMV_ROBtwo views4.14
18
0.52
7
3.14
8
1.30
7
0.77
18
6.92
29
1.97
28
10.11
14
9.58
24
8.92
26
14.20
41
7.12
15
5.90
36
8.65
25
3.50
20
0.01
16
0.05
43
0.00
1
0.00
1
0.04
10
0.09
19
DLCB_ROBtwo views4.51
24
0.91
20
3.78
14
2.19
35
1.07
29
6.28
24
3.09
31
9.78
11
7.72
12
10.65
38
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
NCCL2two views5.88
34
1.59
52
5.44
30
1.87
21
0.92
24
9.55
43
11.55
80
12.11
30
9.94
29
9.67
33
8.85
11
22.28
72
7.41
43
8.78
27
7.17
35
0.01
16
0.00
1
0.03
56
0.00
1
0.13
27
0.23
40
TDLMtwo views4.11
17
1.11
33
3.54
11
1.62
16
1.04
28
3.91
9
7.41
66
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
35
0.12
27
HSMtwo views4.00
16
0.79
14
3.16
9
1.59
15
2.17
48
6.77
28
1.11
19
12.28
34
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
SGM-Foresttwo views4.96
26
0.32
1
2.84
6
1.21
5
0.64
12
10.23
49
6.64
61
11.55
25
10.98
33
10.94
41
13.59
37
11.65
34
4.30
24
8.94
30
4.63
26
0.11
43
0.04
40
0.00
1
0.00
1
0.05
12
0.46
58
Johannes L. Schönberger, Sudipta Sinha, Marc Pollefeys: Learning to Fuse Proposals from Multiple Scanline Optimizations in Semi-Global Matching. ECCV 2018
MLCVtwo views3.44
9
0.88
17
5.60
32
1.39
9
0.25
4
4.36
13
0.33
5
7.25
4
7.28
9
9.17
29
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
pmcnntwo views7.72
52
1.27
41
9.42
61
2.91
51
3.14
57
9.44
41
6.23
55
12.56
38
16.51
56
14.53
60
24.08
65
27.44
81
8.49
48
9.32
32
8.44
44
0.06
38
0.08
53
0.00
1
0.00
1
0.30
47
0.15
33
RYNettwo views6.34
41
0.89
19
5.88
36
1.41
10
4.48
75
15.97
67
4.18
44
13.41
42
16.49
55
10.81
40
7.00
3
14.33
46
8.72
49
9.43
33
13.71
67
0.00
1
0.01
23
0.00
1
0.00
1
0.02
4
0.07
15
ETE_ROBtwo views5.80
32
1.77
58
6.33
42
1.44
11
0.78
19
6.43
27
6.90
62
12.53
37
8.08
16
12.93
54
14.89
43
21.13
71
5.87
35
9.83
34
6.57
32
0.04
33
0.01
23
0.00
1
0.02
39
0.08
18
0.33
50
NVstereo2Dtwo views4.51
24
0.82
15
6.86
48
3.28
61
3.38
61
8.16
34
3.13
32
10.51
18
15.15
48
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
55
0.02
4
0.58
64
RPtwo views6.84
46
1.29
44
5.53
31
3.92
72
5.18
80
6.32
25
3.53
37
11.73
27
15.31
50
9.54
31
22.38
62
18.25
60
14.47
68
10.11
36
7.49
36
0.91
82
0.01
23
0.12
68
0.15
64
0.33
50
0.19
37
PA-Nettwo views4.98
27
1.47
49
7.42
52
2.40
40
2.14
47
8.73
37
3.64
40
12.42
35
13.11
41
7.03
14
7.57
5
7.88
20
6.52
39
10.16
37
7.82
38
0.02
21
0.03
36
0.00
1
0.00
1
0.11
23
1.07
76
Zhibo Rao, Mingyi He, Yuchao Dai, Zhelun Shen: Patch Attention Network with Generative Adversarial Model for Semi-Supervised Binocular Disparity Prediction.
XPNet_ROBtwo views6.03
37
1.22
38
5.61
33
2.56
46
0.90
22
6.32
25
7.07
63
12.92
40
8.30
18
14.76
62
15.13
45
19.84
66
6.66
41
10.36
38
8.58
45
0.02
21
0.04
40
0.00
1
0.03
46
0.11
23
0.24
42
LALA_ROBtwo views6.58
43
1.80
60
6.25
40
1.26
6
0.94
26
10.08
46
9.02
68
16.00
61
11.51
38
12.74
51
13.02
35
24.77
75
5.25
31
10.56
39
8.02
39
0.04
33
0.05
43
0.00
1
0.02
39
0.10
19
0.25
44
AANet_RVCtwo views5.01
28
1.74
56
6.38
43
1.96
29
1.29
33
2.26
1
1.69
26
10.07
13
18.53
61
7.88
18
18.15
54
8.49
23
2.70
12
10.59
40
7.04
34
0.96
83
0.15
66
0.02
50
0.00
1
0.13
27
0.12
27
GANettwo views6.22
39
1.07
28
4.07
19
2.27
37
0.89
21
9.19
39
9.52
71
12.02
29
8.13
17
10.72
39
29.09
74
13.86
42
7.52
45
11.00
41
4.39
24
0.36
64
0.00
1
0.02
50
0.02
39
0.12
25
0.08
17
DeepPrunerFtwo views6.75
44
2.69
71
23.31
85
3.68
67
7.16
86
3.78
8
4.29
45
13.42
43
20.13
67
8.13
21
10.46
15
7.18
16
8.06
46
11.10
42
9.44
51
0.24
54
0.15
66
0.29
76
0.42
79
0.66
68
0.45
56
CF-Nettwo views7.78
53
1.44
48
6.68
46
3.37
63
4.50
76
8.61
36
2.69
29
17.07
66
20.17
68
9.52
30
24.02
64
20.31
68
14.59
69
11.58
43
9.84
54
0.61
74
0.00
1
0.12
68
0.00
1
0.38
56
0.12
27
NaN_ROBtwo views6.00
35
1.24
40
6.29
41
1.34
8
1.68
41
9.60
45
10.31
76
15.09
53
15.79
52
12.62
49
8.95
12
11.67
35
5.83
34
11.78
44
6.41
31
0.05
36
0.13
62
0.08
65
0.20
68
0.22
41
0.79
71
DANettwo views6.02
36
1.23
39
8.45
58
3.86
71
3.94
67
7.64
33
1.34
24
9.51
10
7.00
7
13.39
56
15.53
46
15.99
51
7.02
42
12.14
45
12.37
63
0.19
51
0.12
60
0.02
50
0.03
46
0.13
27
0.56
63
GANetREF_RVCpermissivetwo views6.56
42
2.89
73
7.58
55
3.41
64
0.40
8
12.96
59
9.58
72
15.09
53
17.25
60
10.33
36
10.62
18
12.27
37
8.16
47
12.21
46
4.53
25
0.41
67
0.00
1
0.00
1
0.02
39
3.12
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0.39
53
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
CSANtwo views7.62
50
1.60
53
6.56
45
1.83
19
0.66
13
12.40
57
10.52
78
14.45
50
21.32
70
14.19
58
15.98
48
17.84
56
13.02
65
12.32
47
8.38
43
0.09
41
0.07
51
0.03
56
0.04
52
0.33
50
0.67
69
MSMD_ROBtwo views9.28
63
1.09
31
4.65
23
1.58
14
0.39
7
16.52
68
4.41
47
13.60
44
14.87
47
22.34
74
39.89
88
25.67
77
20.71
81
12.42
48
6.98
33
0.34
63
0.03
36
0.00
1
0.00
1
0.05
12
0.09
19
WCMA_ROBtwo views9.21
62
0.87
16
7.37
51
2.54
45
2.13
46
13.59
62
5.80
52
11.64
26
14.01
44
24.43
81
32.99
81
27.09
80
18.02
71
12.51
49
9.85
55
0.81
79
0.07
51
0.01
39
0.01
34
0.16
31
0.23
40
G-Nettwo views7.46
49
1.62
54
7.42
52
3.29
62
4.87
79
8.46
35
4.04
42
22.30
83
15.26
49
8.01
20
20.02
57
16.77
53
12.97
64
12.54
50
9.11
49
1.75
86
0.08
53
0.01
39
0.19
67
0.24
45
0.25
44
NCC-stereotwo views6.77
45
1.49
50
6.48
44
2.92
53
4.40
70
7.43
31
3.61
39
19.52
77
13.29
42
8.39
22
16.91
49
15.96
50
12.13
60
12.85
51
7.70
37
1.47
85
0.11
58
0.01
39
0.42
79
0.14
30
0.24
42
RGCtwo views6.88
47
2.23
66
6.13
39
4.05
73
4.73
78
8.94
38
2.78
30
15.19
57
11.74
39
11.13
42
19.34
56
17.86
57
10.42
56
13.02
52
8.03
41
0.73
76
0.01
23
0.24
75
0.41
78
0.31
48
0.38
52
SANettwo views10.64
71
1.86
61
10.91
63
1.76
18
0.71
15
14.62
65
9.23
70
19.18
72
37.14
88
19.22
70
27.96
71
25.86
78
19.11
76
13.02
52
10.63
56
0.08
40
0.06
48
0.03
56
0.02
39
0.62
66
0.81
72
PWCDC_ROBbinarytwo views7.92
55
3.17
79
7.48
54
5.73
85
4.40
70
10.45
50
0.35
7
14.52
51
28.19
79
10.36
37
31.27
77
7.04
13
9.14
52
13.22
54
8.78
47
2.74
89
0.02
32
0.00
1
0.00
1
1.31
81
0.17
35
Anonymous Stereotwo views6.16
38
3.15
78
23.75
86
2.97
56
2.48
53
4.39
16
13.30
83
9.21
8
9.86
27
9.56
32
8.76
10
6.79
11
1.99
7
13.50
55
13.04
66
0.01
16
0.05
43
0.00
1
0.06
55
0.22
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0.19
37
MFMNet_retwo views13.29
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8.60
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9.75
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7.25
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19.65
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14.84
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20.71
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82
23.03
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28.77
73
18.85
62
26.09
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13.55
56
9.82
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2.44
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1.35
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0.34
79
0.23
70
4.78
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6.69
90
PWC_ROBbinarytwo views8.24
57
3.13
76
12.74
68
2.43
41
4.43
72
7.51
32
1.22
20
16.63
64
19.24
64
16.08
64
28.29
72
13.99
45
10.16
55
13.63
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14.06
68
0.42
70
0.00
1
0.05
63
0.00
1
0.59
65
0.27
48
PASMtwo views7.90
54
4.22
82
21.97
83
3.25
60
3.29
59
5.39
20
6.57
60
10.57
19
19.09
63
12.77
52
13.92
39
18.11
59
9.51
53
13.79
58
10.77
59
0.19
51
0.45
82
0.29
76
1.08
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1.49
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1.19
78
stereogantwo views7.69
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0.88
17
7.08
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3.49
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3.93
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18.98
74
3.23
34
16.52
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19.58
65
9.93
35
18.92
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20.50
69
9.04
51
14.07
59
6.14
29
0.26
56
0.04
40
0.21
73
0.03
46
0.63
67
0.33
50
LE_ROBtwo views16.73
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1.28
43
11.61
65
3.72
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1.65
39
16.67
70
9.17
69
14.39
49
55.91
96
63.81
96
40.86
91
35.94
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37.73
95
14.24
60
26.87
87
0.05
36
0.10
57
0.13
70
0.22
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0.12
25
0.15
33
ADCPNettwo views9.54
64
2.39
68
31.46
88
2.09
32
1.60
37
16.71
71
6.39
59
12.11
30
11.45
36
13.53
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21.45
60
19.41
64
10.94
59
14.38
61
21.54
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0.27
59
1.16
86
0.39
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1.49
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0.58
64
1.45
82
DPSNettwo views10.14
68
1.88
62
16.82
77
1.85
20
1.73
42
24.84
83
17.20
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19.92
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27.41
78
12.23
48
13.62
38
16.52
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18.35
72
14.42
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12.50
64
0.78
77
0.54
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0.08
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0.25
72
1.18
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0.59
67
SHDtwo views9.61
65
2.60
70
12.46
67
3.69
68
3.54
63
9.47
42
1.25
21
20.16
80
37.84
90
18.19
68
21.24
59
16.96
54
12.83
63
14.47
63
16.05
71
0.32
62
0.13
62
0.01
39
0.08
58
0.38
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0.48
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MDST_ROBtwo views8.37
58
0.32
1
9.03
59
4.18
75
2.42
52
26.86
85
6.14
53
19.36
74
13.52
43
27.09
83
22.75
63
9.47
25
4.74
27
15.06
64
6.34
30
0.02
21
0.02
32
0.00
1
0.00
1
0.02
4
0.13
31
XQCtwo views8.43
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3.58
80
16.40
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2.92
53
2.17
48
13.22
61
3.60
38
14.64
52
25.86
76
11.87
44
12.04
27
15.06
48
10.67
57
15.24
65
19.41
73
0.39
65
0.08
53
0.05
63
0.07
57
0.84
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0.45
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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
87
43.61
96
10.22
48
9.98
75
15.16
56
22.93
72
23.07
79
32.34
80
18.52
61
12.67
61
15.45
66
11.10
60
0.16
49
0.51
83
0.09
67
0.32
73
1.08
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16.85
95
FC-DCNNcopylefttwo views10.72
72
0.52
7
4.27
20
1.88
22
1.63
38
17.18
72
5.29
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18.20
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19.69
66
28.50
84
34.51
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34.03
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21.48
84
15.89
67
11.15
61
0.03
30
0.01
23
0.02
50
0.01
34
0.07
16
0.09
19
ADCLtwo views10.16
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2.11
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19.36
81
1.92
25
1.88
45
22.23
80
8.91
67
14.04
47
23.56
73
14.62
61
26.19
69
12.75
38
13.59
67
16.06
68
22.95
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0.26
56
0.18
69
0.75
85
0.65
82
0.69
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0.58
64
PDISCO_ROBtwo views9.62
66
1.99
63
11.51
64
9.88
90
9.61
91
21.48
79
3.83
41
19.33
73
28.49
80
11.27
43
14.17
40
19.92
67
5.02
30
16.35
69
9.18
50
5.28
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0.41
79
0.14
71
0.09
61
2.05
86
2.36
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SAMSARAtwo views14.63
80
2.74
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12.38
66
12.65
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6.74
85
36.50
91
72.93
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19.36
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23.77
74
16.20
65
13.04
36
29.21
82
12.78
62
16.98
70
15.21
69
0.11
43
0.26
74
0.03
56
0.14
63
0.76
70
0.77
70
ADCP+two views8.09
56
1.79
59
14.50
72
1.54
13
4.28
69
16.57
69
5.20
50
12.80
39
11.20
35
12.83
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17.07
50
11.02
31
10.80
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17.59
71
23.18
83
0.03
30
0.05
43
0.01
39
0.18
65
0.39
60
0.81
72
Abc-Nettwo views13.06
77
3.78
81
19.11
79
4.54
79
4.15
68
20.62
78
14.20
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27.91
92
21.69
71
19.32
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39.81
87
25.95
79
23.31
86
17.98
72
15.83
70
0.45
71
0.14
65
0.01
39
0.08
58
1.13
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1.27
79
FBW_ROBtwo views8.50
60
1.03
26
7.98
57
1.93
27
1.28
32
13.10
60
6.23
55
22.50
84
18.98
62
18.82
69
14.91
44
19.06
63
10.04
54
18.41
73
9.83
53
0.62
75
0.22
71
1.82
90
0.82
85
0.99
75
1.36
81
ADCMidtwo views10.24
70
3.13
76
20.70
82
2.21
36
2.39
51
11.23
53
6.19
54
14.17
48
11.19
34
23.20
80
22.25
61
17.89
58
19.54
77
18.51
74
26.21
86
0.45
71
0.42
81
1.10
87
1.29
88
1.56
85
1.18
77
MeshStereopermissivetwo views11.52
74
1.52
51
4.55
22
1.89
23
1.46
34
19.87
77
5.11
49
20.66
81
15.91
53
32.67
89
34.51
83
39.34
92
21.15
82
18.74
75
12.10
62
0.11
43
0.06
48
0.01
39
0.00
1
0.45
62
0.22
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DISCOtwo views6.28
40
0.57
9
5.78
35
3.43
65
1.17
30
11.22
52
3.39
36
12.14
32
16.16
54
6.52
11
11.22
22
16.96
54
6.32
37
19.51
76
10.74
57
0.00
1
0.00
1
0.00
1
0.00
1
0.35
53
0.11
26
SGM_RVCbinarytwo views10.08
67
0.60
11
3.42
10
2.30
38
0.32
5
19.41
75
6.33
57
18.95
71
14.64
45
25.14
82
24.32
66
33.34
86
18.79
75
19.86
77
12.55
65
0.25
55
0.26
74
0.22
74
0.24
71
0.34
52
0.40
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RTSCtwo views9.15
61
3.00
75
13.57
71
3.72
69
1.76
43
11.82
55
0.46
9
16.95
65
36.83
87
15.80
63
15.53
46
12.91
39
7.46
44
20.01
78
21.76
79
0.31
61
0.13
62
0.01
39
0.08
58
0.57
63
0.41
55
NVStereoNet_ROBtwo views16.04
84
6.75
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12.90
69
6.37
86
7.42
89
12.89
58
9.74
73
22.78
85
25.12
75
30.32
85
46.19
94
34.37
88
25.38
87
21.48
79
21.38
76
5.94
92
3.10
92
6.07
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10.09
95
4.01
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8.54
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AnyNet_C32two views10.98
73
5.58
84
22.79
84
4.16
74
5.83
82
15.64
66
14.30
85
13.18
41
17.15
59
16.44
66
20.52
58
14.68
47
13.44
66
22.46
80
30.08
91
0.17
50
0.26
74
0.36
80
0.36
76
1.23
79
0.91
74
DispFullNettwo views17.47
90
26.01
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33.98
90
22.58
94
20.86
94
13.84
64
1.28
22
16.50
62
26.27
77
19.97
72
17.17
51
20.52
70
18.49
73
22.86
81
10.76
58
5.13
90
2.83
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30.72
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7.72
93
20.86
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11.01
94
ADCStwo views13.02
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4.93
83
28.38
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3.17
59
2.67
55
13.61
63
10.83
79
18.70
69
33.46
84
22.59
75
24.78
67
19.59
65
18.51
74
23.40
82
32.16
93
0.10
42
0.19
70
0.37
81
0.18
65
1.26
80
1.46
83
SPS-STEREOcopylefttwo views15.04
81
6.23
86
13.21
70
11.34
91
11.65
93
23.30
81
7.15
64
24.16
86
15.65
51
31.78
88
29.19
75
31.62
84
21.32
83
24.62
83
19.50
74
7.59
93
4.19
94
3.22
91
1.48
89
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SGM+DAISYtwo views15.62
83
7.26
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19.28
80
8.94
88
10.11
92
26.25
84
10.49
77
19.36
74
14.65
46
30.64
86
33.59
82
33.00
85
22.32
85
24.96
84
16.42
72
7.90
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6.25
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4.51
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3.37
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5.86
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7.20
91
PVDtwo views15.44
82
2.93
74
14.67
73
4.21
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3.39
62
17.43
73
4.16
43
27.84
90
48.84
94
31.02
87
43.54
92
29.76
83
30.81
92
25.97
85
21.40
77
0.23
53
0.41
79
0.04
61
0.33
74
0.41
61
1.33
80
ELAScopylefttwo views16.72
87
2.14
65
9.23
60
4.92
81
4.53
77
32.66
90
15.11
89
27.40
88
28.68
81
40.27
92
44.90
93
38.33
91
30.50
91
26.44
86
21.94
81
0.88
80
1.23
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0.67
84
0.89
86
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83
2.18
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ELAS_RVCcopylefttwo views16.54
86
2.26
67
10.09
62
5.50
84
4.46
74
28.28
86
16.72
91
25.55
87
33.54
85
40.19
91
40.30
90
36.68
90
30.03
90
29.40
87
20.61
75
0.98
84
1.21
87
0.86
86
0.70
83
1.39
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2.16
85
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AnyNet_C01two views16.12
85
10.81
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59.36
93
4.42
77
2.49
54
30.06
87
15.15
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17.51
67
16.51
56
17.88
67
37.69
86
24.04
74
17.54
70
29.60
88
33.29
94
0.28
60
0.38
77
0.43
83
0.42
79
2.57
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1.98
84
Nwc_Nettwo views12.96
75
2.43
69
15.29
74
4.46
78
3.56
64
24.49
82
12.36
82
27.85
91
21.14
69
14.50
59
27.22
70
22.84
73
20.00
80
31.34
89
29.17
90
0.78
77
0.12
60
0.00
1
0.01
34
0.95
74
0.63
68
MANEtwo views19.47
93
1.27
41
5.07
26
4.69
80
5.55
81
30.49
88
9.94
74
34.01
93
37.27
89
44.13
94
51.57
96
52.51
95
40.41
96
33.58
90
24.81
85
0.89
81
0.86
85
1.11
88
9.72
94
0.38
56
1.06
75
SGM-ForestMtwo views16.99
89
1.08
30
5.74
34
2.12
33
0.75
16
31.63
89
12.21
81
27.80
89
32.25
83
37.88
90
39.99
89
52.96
96
35.20
94
33.60
91
24.47
84
0.26
56
0.39
78
0.31
78
0.39
77
0.26
46
0.53
62
RTStwo views18.87
91
9.32
90
86.48
96
4.95
82
6.10
83
42.08
93
14.70
86
15.49
58
41.06
91
22.65
76
32.32
78
13.77
40
19.54
77
37.98
92
28.96
88
0.41
67
0.23
72
0.00
1
0.02
39
0.91
72
0.50
60
RTSAtwo views18.87
91
9.32
90
86.48
96
4.95
82
6.10
83
42.08
93
14.70
86
15.49
58
41.06
91
22.65
76
32.32
78
13.77
40
19.54
77
37.98
92
28.96
88
0.41
67
0.23
72
0.00
1
0.02
39
0.91
72
0.50
60
PWCKtwo views30.53
95
44.32
96
47.25
92
29.76
95
7.23
87
40.78
92
27.10
93
44.73
95
44.32
93
47.31
95
36.37
85
47.16
93
26.05
88
41.26
94
31.87
92
21.83
95
4.03
93
29.50
95
4.67
92
27.17
95
7.80
92
MADNet+two views27.07
94
33.84
94
90.97
98
20.14
93
7.47
90
48.43
95
47.10
94
35.43
94
36.46
86
20.11
73
30.05
76
25.29
76
35.08
93
45.50
95
50.28
96
2.13
87
2.00
90
1.19
89
0.76
84
4.71
90
4.43
88
DPSimNet_ROBtwo views53.45
97
64.73
97
44.39
91
53.97
97
45.39
97
53.66
96
54.83
96
55.15
97
57.87
97
64.16
97
50.83
95
63.40
97
53.34
98
46.45
96
65.81
97
63.13
97
26.54
97
57.94
97
51.11
97
45.52
97
50.69
97
edge stereotwo views42.36
96
35.18
95
61.87
94
36.69
96
34.28
95
64.01
97
49.25
95
49.10
96
51.11
95
41.69
93
62.57
97
47.20
94
43.96
97
46.98
97
45.63
95
23.51
96
25.35
96
23.07
94
25.55
96
40.35
96
39.91
96
MADNet++two views82.84
98
82.38
98
73.57
95
87.72
98
82.97
98
93.14
98
69.15
97
86.42
98
82.50
98
93.46
98
86.70
98
86.28
98
80.92
99
88.34
98
88.84
98
86.83
98
84.17
98
72.64
98
68.92
98
80.47
98
81.42
98
MEDIAN_ROBtwo views98.41
99
99.70
99
99.30
100
97.09
99
97.02
99
96.89
99
95.77
100
97.66
99
97.28
99
98.79
101
98.94
99
99.18
99
98.14
100
96.89
99
96.88
99
99.96
101
99.16
99
100.00
99
99.99
99
99.69
99
99.88
99
DGTPSM_ROBtwo views99.90
101
100.00
101
99.99
101
99.99
102
100.00
100
100.00
101
100.00
101
99.97
100
100.00
100
98.35
99
100.00
100
99.84
100
100.00
101
99.98
100
99.99
100
99.99
102
100.00
100
100.00
99
100.00
100
100.00
102
100.00
103
DPSMNet_ROBtwo views99.91
102
100.00
101
99.99
101
99.99
102
100.00
100
100.00
101
100.00
101
99.98
101
100.00
100
98.35
99
100.00
100
99.84
100
100.00
101
99.98
100
99.99
100
100.00
103
100.00
100
100.00
99
100.00
100
100.00
102
100.00
103
LSM0two views100.00
105
100.00
101
100.00
103
100.00
104
100.00
100
100.00
101
100.00
101
100.00
102
100.00
100
100.00
102
100.00
100
100.00
102
100.00
101
100.00
102
100.00
103
100.00
103
100.00
100
100.00
99
100.00
100
100.00
102
99.99
102
DPSMtwo views99.95
103
100.00
101
100.00
103
99.76
100
100.00
100
100.00
101
100.00
101
100.00
102
100.00
100
100.00
102
100.00
100
100.00
102
100.00
101
100.00
102
100.00
103
99.21
99
100.00
100
100.00
99
100.00
100
99.99
100
99.95
100
AVERAGE_ROBtwo views99.62
100
99.95
100
98.81
99
100.00
104
100.00
100
98.08
100
95.47
99
100.00
102
100.00
100
100.00
102
100.00
100
100.00
102
100.00
101
100.00
102
99.99
100
100.00
103
100.00
100
100.00
99
100.00
100
100.00
102
100.00
103
DPSM_ROBtwo views99.95
103
100.00
101
100.00
103
99.76
100
100.00
100
100.00
101
100.00
101
100.00
102
100.00
100
100.00
102
100.00
100
100.00
102
100.00
101
100.00
102
100.00
103
99.21
99
100.00
100
100.00
99
100.00
100
99.99
100
99.95
100
MSMDNettwo views1.26
4