Low-res two-view results

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):

bad 0.5, 1.0, 2.0, 4.0 [%]: Fraction of pixels with errors larger than the given number of disparities.
Average error [px]: The per-pixel average disparity error.
Root mean square error [px]: The per-pixel root mean square disparity error.
50%, 90%, 95%, 99% error quantile [px]: The highest disparity error within the given percentage of best pixels (for 50%, this is the median error).
Time [s]: The runtime of the method.

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	all	lakes. 1l	lakes. 1s	sand box 1l	sand box 1s	stora. room 1l	stora. room 1s	stora. room 2l	stora. room 2s	stora. room 2 1l	stora. room 2 1s	stora. room 2 2l	stora. room 2 2s	stora. room 3l	stora. room 3s	tunnel 1l	tunnel 1s	tunnel 2l	tunnel 2s	tunnel 3l	tunnel 3s

HSM-Net_RVC	4.20 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
AdaStereo	3.09 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
HSM	4.00 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

iResNet_ROB	4.23 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

HITNet	2.79 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

MLCV	3.44 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

CC-Net-ROB	3.84 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

CFNet_RVC	3.31 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

NLCA_NET_v2_RVC	3.84 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.
R-Stereo	2.44 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 Train	2.44 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

DN-CSS_ROB	2.69 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

DeepPruner_ROB	3.52 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

ccs	3.37 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

RYNet	6.34 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

CFNet	3.72 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

GANet	6.22 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

ccs_rob	3.63 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

FC-DCNN	10.72 72	0.52 7	4.27 20	1.88 22	1.63 38	17.18 72	5.29 51	18.20 68	19.69 66	28.50 84	34.51 83	34.03 87	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

CVANet_RVC	4.16 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

MSMD_ROB	9.28 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

CBMV_ROB	4.14 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

iResNetv2_ROB	4.28 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

iResNet	3.68 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

DLCB_ROB	4.51 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

DISCO	6.28 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

AANet_RVC	5.01 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

TDLM	4.11 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

PSMNet_ROB	5.02 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

CF-Net	7.78 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

MDST_ROB	8.37 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

NOSS_ROB	3.30 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

pmcnn	7.72 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

LE_ROB	16.73 88	1.28 43	11.61 65	3.72 69	1.65 39	16.67 70	9.17 69	14.39 49	55.91 96	63.81 96	40.86 91	35.94 89	37.73 95	14.24 60	26.87 87	0.05 36	0.10 57	0.13 70	0.22 69	0.12 25	0.15 33

CBMV	5.35 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
PWCDC_ROB	7.92 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

RP	6.84 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

Anonymous Stereo	6.16 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 41	0.19 37

MeshStereo	11.52 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 39
C. Zhang, Z. Li, Y. Cheng, R. Cai, H. Chao, Y. Rui: MeshStereo: A Global Stereo Model with Mesh Alignment Regularization for View Interpolation. ICCV 2015
NCCL2	5.88 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

WCMA_ROB	9.21 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

XPNet_ROB	6.03 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

NCC-stereo	6.77 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

G-Net	7.46 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

DRN-Test	5.87 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

LALA_ROB	6.58 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

StereoDRNet-Refined	4.46 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
PWC_ROB	8.24 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 57	14.06 68	0.42 70	0.00 1	0.05 63	0.00 1	0.59 65	0.27 48

StereoDRNet	5.59 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

stereogan	7.69 51	0.88 17	7.08 49	3.49 66	3.93 66	18.98 74	3.23 34	16.52 63	19.58 65	9.93 35	18.92 55	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

ETE_ROB	5.80 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

RGC	6.88 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

GANetREF_RVC	6.56 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 88	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
SGM_RVC	10.08 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 54
Heiko Hirschmueller: Stereo processing by semiglobal matching and mutual information. TPAMI 2008, Volume 30(2), pp. 328-341
RTSC	9.15 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

DeepPrunerF	6.75 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

XQC	8.43 59	3.58 80	16.40 76	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 71	0.45 56

SGM-Forest	4.96 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
SHD	9.61 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 56	0.48 59

RTSA	18.87 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

RTS	18.87 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

SGM-ForestM	16.99 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

DANet	6.02 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

ADCL	10.16 69	2.11 64	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 82	0.26 56	0.18 69	0.75 85	0.65 82	0.69 69	0.58 64

ADCRef	7.27 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

NVstereo2D	4.51 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

DPSNet	10.14 68	1.88 62	16.82 77	1.85 20	1.73 42	24.84 83	17.20 92	19.92 78	27.41 78	12.23 48	13.62 38	16.52 52	18.35 72	14.42 62	12.50 64	0.78 77	0.54 84	0.08 65	0.25 72	1.18 78	0.59 67

Nwc_Net	12.96 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

CSAN	7.62 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

SAMSARA	14.63 80	2.74 72	12.38 66	12.65 92	6.74 85	36.50 91	72.93 98	19.36 74	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

NaN_ROB	6.00 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

SANet	10.64 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

ADCP+	8.09 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 53	17.07 50	11.02 31	10.80 58	17.59 71	23.18 83	0.03 30	0.05 43	0.01 39	0.18 65	0.39 60	0.81 72

AnyNet_C32	10.98 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

MANE	19.47 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

PA-Net	4.98 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.
ADCMid	10.24 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

PASM	7.90 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 87	1.49 83	1.19 78

Abc-Net	13.06 77	3.78 81	19.11 79	4.54 79	4.15 68	20.62 78	14.20 84	27.91 92	21.69 71	19.32 71	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 77	1.27 79

PVD	15.44 82	2.93 74	14.67 73	4.21 76	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

FBW_ROB	8.50 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

ADCPNet	9.54 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 57	21.45 60	19.41 64	10.94 59	14.38 61	21.54 78	0.27 59	1.16 86	0.39 82	1.49 90	0.58 64	1.45 82

ADCS	13.02 76	4.93 83	28.38 87	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

AnyNet_C01	16.12 85	10.81 92	59.36 93	4.42 77	2.49 54	30.06 87	15.15 90	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 87	1.98 84

ELAS_RVC	16.54 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 82	2.16 85
A. Geiger, M. Roser, R. Urtasun: Efficient large-scale stereo matching. ACCV 2010
ELAS	16.72 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 88	0.67 84	0.89 86	1.49 83	2.18 86
A. Geiger, M. Roser, R. Urtasun: Efficient large-scale stereo matching. ACCV 2010
PDISCO_ROB	9.62 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 91	0.41 79	0.14 71	0.09 61	2.05 86	2.36 87

MADNet+	27.07 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

SPS-STEREO	15.04 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	6.99 93	6.54 89
K. Yamaguchi, D. McAllester, R. Urtasun: Efficient Joint Segmentation, Occlusion Labeling, Stereo and Flow Estimation. ECCV 2014
MFMNet_re	13.29 78	8.60 89	18.29 78	9.75 89	7.25 88	19.65 76	14.84 88	20.71 82	30.72 82	23.03 78	28.77 73	18.85 62	26.09 89	13.55 56	9.82 52	2.44 88	1.35 89	0.34 79	0.23 70	4.78 91	6.69 90

SGM+DAISY	15.62 83	7.26 88	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 94	6.25 95	4.51 92	3.37 91	5.86 92	7.20 91

PWCK	30.53 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

NVStereoNet_ROB	16.04 84	6.75 87	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 93	10.09 95	4.01 89	8.54 93
Nikolai Smolyanskiy, Alexey Kamenev, Stan Birchfield: On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach. Arxiv
DispFullNet	17.47 90	26.01 93	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 91	30.72 96	7.72 93	20.86 94	11.01 94

LSM	14.01 79	5.95 85	33.49 89	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 76	16.85 95

edge stereo	42.36 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

DPSimNet_ROB	53.45 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

MADNet++	82.84 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_ROB	98.41 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

DPSM_ROB	99.95 103	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

DPSM	99.95 103	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

LSM0	100.00 105	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

DPSMNet_ROB	99.91 102	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

DGTPSM_ROB	99.90 101	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

AVERAGE_ROB	99.62 100	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

MSMDNet													1.26 4

Low-res two-view benchmark