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



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Low-res many-view results



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many-view		indooroutdoorlakesidesand boxstorage roomstorage room 2tunnel
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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 views0.100.180.330.010.000.080.000.360.740.000.010.020.000.150.040.000.000.000.000.030.01

SLAM results



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