Results for FS-TRT-Harmonizegood

Submitted by Wenbo Ma.

Submission data

Full nameFoundationStereo (TensorRT) with Photometric Harmonization
DescriptionWe run NVLabs FoundationStereo on rectified low-res two-view pairs using a TensorRT engine.
Before inference, we apply a lightweight photometric harmonization to reduce exposure/white-balance mismatch
(percentile-based tone alignment with gray-world white balance). The network runs at 480×640 and outputs
pixel disparity. Disparity is resized back to the original image size with proper horizontal scaling and
saved as 32-bit PFM (NaN for invalid). No post-smoothing or left–right consistency filtering is used.
ParametersInput size (network): 480×640
Enhancement: harmonize (percentile tone alignment + gray-world WB)
Disparity: pixel disparity
Upscale rule: bilinear resize + multiply by (W_full / W_in)
Output format: disp0.pfm (float32, little-endian), NaN for invalid pixels
Hardware: NVIDIA Jetson AGX Orin 32 GB, Ubuntu 22.04
Runtime: TensorRT 8.x, CUDA 11.x, Python 3.10, OpenCV 4.x
Publication titleFS-TRT-Harmonize: Photometric Harmonization for ETH3D Low-Res Two-View
Publication authors1853532
Publication venueTechnical report (online)
Publication URLhttps://github.com/1853532/fs-trt-harmonize#technical-report
Programming language(s)Python 3.10; CUDA 11.x / TensorRT 8.x; C++ (ETH3D evaluator)
HardwareNVIDIA Jetson AGX Orin 32 GB (Ampere), Ubuntu 22.04, CUDA 11.x, TensorRT 8.x
Websitehttps://github.com/1853532/fs-trt-harmonize
Source code or download URLhttps://github.com/1853532/fs-trt-harmonize
Submission creation date15 Aug, 2025
Last edited15 Aug, 2025

High-res multi-view results



Infoallhigh-res
multi-view		indooroutdoorbotani.boulde.bridgedoorexhibi.lectur.living.loungeobserv.old co.statueterrac.
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Low-res many-view results



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many-view		indooroutdoordelivery areaelectroforestplaygroundterrains
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Low-res two-view results



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
two views0.060.040.090.130.050.080.040.060.040.070.050.070.060.090.100.050.040.050.030.040.04

SLAM results



allboxesboxes darkbuddhacables 4cables 5desk 1desk 2desk changing 2desk dark 1desk dark 2desk global light changesdesk ir lightdinodroneforeground occlusionhelmetkidnap 2lamplarge loop 2large loop 3large non loopmotion 2motion 3motion 4planar 1reflective 2scale changetable 1table 2table 5table 6table global light changestable local light changestable scenetrashbin
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