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Middlebury Stereo Evaluation - Version 3

Middlebury Stereo Evaluation - Version 3

Mouseover the table cells to see the produced disparity map. Clicking a cell will blink the ground truth for comparison. To change the table type, click the links below. For more information, please see the description of new features.

Submit and evaluate your own results. See snapshots of previous results. See the evaluation v.2 (no longer active).

Set: test densetest sparsetraining densetraining sparse
Metric: bad 0.5 bad 1.0 bad 2.0 bad 4.0 avgerr rms A50 A90 A95 A99 time time/MP time/GD
Mask: nonocc all
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Reference
Description
Parameters
Running Environment
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[stat] error
bad 2.0 (%)Weight
DateNameResAvgAustrAustrPBicyc2ClassClassECompuCrusaCrusaPDjembDjembLHoopsLivgrmNkubaPlantsStairs
MP: 5.6
nd: 290
im0im1
GT
nonocc
MP: 5.6
nd: 290
im0im1
GT
nonocc
MP: 5.6
nd: 250
im0im1
GT
nonocc
MP: 5.7
nd: 610
im0im1
GT
nonocc
MP: 5.7
nd: 610
im0im1
GT
nonocc
MP: 1.5
nd: 256
im0im1
GT
nonocc
MP: 5.5
nd: 800
im0im1
GT
nonocc
MP: 5.5
nd: 800
im0im1
GT
nonocc
MP: 5.7
nd: 320
im0im1
GT
nonocc
MP: 5.7
nd: 320
im0im1
GT
nonocc
MP: 5.7
nd: 410
im0im1
GT
nonocc
MP: 5.9
nd: 320
im0im1
GT
nonocc
MP: 5.5
nd: 570
im0im1
GT
nonocc
MP: 5.6
nd: 320
im0im1
GT
nonocc
MP: 5.2
nd: 450
im0im1
GT
nonocc
07/25/141SGBM2Q126.48627.98012.19117.810013.76374.513014.07230.38126.38811.09064.412837.99825.88425.38529.38543.791
07/25/142SGBM1Q127.99128.38117.211019.010114.56757.911515.68031.88331.49913.29858.611638.610027.09325.98731.49059.7116
07/25/143SGMQ120.87135.5939.577913.88016.57132.16719.08625.86916.7668.958039.87831.17422.66520.75921.37332.268
07/25/144SGBM1F328.49343.51129.097413.67925.910082.013414.47743.410530.3975.986659.311945.811528.59824.98220.17045.995
07/28/146SGBM1H223.87732.98710.88613.67816.26971.212512.65826.67223.0795.836253.811139.210225.68322.86918.86447.498
07/28/147SGMH218.46140.31044.54298.034322.99040.57911.45124.76610.1445.405829.65828.56623.97220.05314.25130.966
07/28/148SGMF325.38345.11164.33246.873232.211650.010013.06248.111318.3717.667529.65736.18831.210624.27724.57750.2102
07/28/145Cens5H226.68747.11208.747211.97125.69845.39219.58940.610129.0959.938536.57038.69931.010525.08425.67844.693
08/25/149LPSH219.2676.14315.34489.24527.534196.013912.3569.61349.40405.185492.414027.46424.37323.07110.03425.659
08/27/1410LPSF320.3706.72346.06559.72559.875094.313814.17311.24011.2505.886389.313936.08720.55623.87616.05825.457
08/31/1411BSMQ141.512959.813625.813227.912338.913060.611733.312346.911137.311026.312664.812951.512142.613145.213342.811566.6124
09/10/1412LAMC_DSMH226.08455.813211.98914.38318.37544.08618.38539.910029.5966.676931.16134.58328.89926.38830.18835.772
09/18/1413SNCCH221.97248.61246.98619.795625.79946.09512.45736.89416.6657.257323.14334.28226.79121.86519.96828.465
10/07/1414IDRH218.16037.51014.08177.494023.39140.68012.85924.56411.3515.465933.16626.05921.56321.76415.35621.250
01/21/1515TSGOF339.112234.19016.910920.010243.313255.411114.37554.112349.212433.913466.213045.911639.812842.613047.212252.6104
04/08/1516REAFH231.410358.313330.913813.17445.313463.812030.912138.79725.3868.607839.37736.89127.09235.512118.26239.782
04/09/1517PFSF332.211065.113829.413712.17250.013670.812428.211544.610723.1807.857637.07437.79427.99536.012319.86735.773
04/17/1518TMAPH216.95720.2624.94378.134612.86030.06311.75227.97620.4755.095331.56223.15220.95919.05118.86518.044
04/19/1519MeshStereoH213.2465.90284.883410.86512.96110.62411.04812.2439.01365.395727.45123.55417.74821.06015.45720.949
08/28/1520MC-CNN-acrtH28.08225.59244.55315.96232.831311.4305.81198.32298.89342.711916.32914.12213.22613.076.401911.122
09/14/1521ELASF332.311150.91269.177511.06833.011988.213618.38447.311226.88911.79541.78137.49223.77128.89863.013442.887
09/28/1522R-NCCF348.413526.27414.810230.212730.911372.912841.613577.713964.113827.412959.111871.913950.913633.911978.213980.8136
10/13/1523MDPH212.64314.4524.994010.66410.75327.2618.113412.5458.07324.274630.45920.54712.62017.84413.45017.340
11/03/1524MC-CNN+RBSH28.42236.05295.16436.24273.271911.1276.36238.87329.83423.213015.12615.92912.82213.5127.04239.9915
12/18/1525INTSH214.55220.2614.52278.624911.65429.56210.74616.45310.3454.694827.65322.55020.75720.55711.54424.956
01/19/1626NTDEH27.44175.72274.36255.92212.831310.4215.71175.30175.54232.401213.52214.12012.62113.9156.391812.228
01/26/1627MC-CNN-fstH29.47277.35375.07417.18364.712816.8468.47397.37266.97282.822020.73817.43715.43715.1257.902812.629
02/18/1628LS-ELASF336.711753.512810.38415.89237.012783.613524.510449.111534.610413.99944.98745.711434.911929.19964.413662.7122
03/15/1629MPSVQ143.513258.813433.914034.213237.912952.410630.812056.813051.012830.613156.911451.512244.613343.413144.211654.2108
04/03/1630ICSGF345.613469.714019.111421.310843.613377.613336.913065.313540.411520.311653.611058.713446.513547.113560.713279.1133
04/24/1631HLSC_corH226.08526.57515.210421.010620.58435.77423.410033.18535.010511.99639.17634.28125.28132.811228.38322.753
04/27/1632JEMQ137.211935.79427.913530.612833.212043.08531.412249.511647.312126.512849.610046.011735.712130.810637.510255.8113
05/12/1633PMSCH26.71113.4612.6816.19262.5486.92104.5483.96114.04132.371013.12012.31512.21916.2335.881410.819
05/28/1634APAP-StereoH27.26155.43214.91365.11145.173021.6526.99274.31124.23153.243114.3249.7887.32513.4106.30168.462
07/03/1635LPUH210.43511.4443.18108.10456.083320.9508.24366.94244.00124.044133.96916.93315.23617.8439.123011.626
08/31/1636SEDF363.414054.313022.412672.914164.514171.412642.513680.114067.913949.814079.613574.414065.414155.114086.114191.6140
09/13/1637SNP-RSMH28.75245.46234.85336.50303.372010.4237.31288.73319.37393.583614.32314.72514.93512.8610.13610.820
10/19/1638LW-CNNH27.04124.65143.95155.30152.63911.2295.41154.32134.22142.431312.21713.41813.62914.8224.72212.027
10/23/1639SIGMRFQ164.214160.013733.013967.914063.214099.514339.813384.814182.014135.213695.214191.514158.113965.814155.012988.6139
11/06/1640SPSF319.66814.25112.39314.98712.05615.84119.18717.45515.4608.237730.96034.88430.610425.38528.38228.060
11/15/1641MC-CNN-WSH212.14114.8567.206311.1697.624215.94211.85311.5429.01363.893819.73620.54616.34116.33412.14718.346
11/16/1642MCSCF311.34013.3505.965410.6618.69467.221111.34910.6377.48293.07253.10125.25719.05317.23710.33825.558
11/24/1643ADSMQ138.712140.410520.311827.312135.112455.911222.39756.112650.912724.212358.011556.313036.512232.111138.710769.7126
01/15/1744IGFQ134.011442.710920.111723.711632.211545.69428.611843.010437.210921.412150.910444.711334.711831.911037.410047.197
01/24/17453DMSTH25.9273.7182.7824.75102.72107.36124.2873.4463.7692.35912.61811.5138.56814.0165.3588.873
03/09/1746SGMEPiF313.9496.92356.71599.47539.724811.83213.66610.93910.6485.265532.86526.96222.76622.76812.04621.752
03/10/1747MC-CNN+TDSRF36.3595.45224.45266.80313.462110.7256.05205.01165.19192.621510.8139.6256.59311.426.01157.041
03/22/1748JMRH212.5424.09123.97168.44486.933811.12613.86819.55919.0733.663717.03118.23918.05021.0617.292617.843
03/23/1749DSGCAQ133.811242.911020.912123.611530.210945.59327.611342.010336.010721.011950.210244.211233.311534.612038.410546.896
04/04/1750DDLQ130.19944.311519.411525.812028.310642.18421.19437.19528.79321.712246.89236.08630.310328.49532.79437.576
05/23/1751r200highH240.912670.514114.49921.310737.712872.212738.113253.212131.49918.310652.410852.612444.113245.413450.712466.5123
06/14/1752DoGGuidedQ141.412745.411823.612830.612934.612252.510728.311659.113453.813226.412760.612354.712938.312535.512244.511772.0131
06/22/1753LocalExpH25.4323.6552.8742.9811.9945.5943.3733.4883.3542.05310.3119.7578.57914.4195.4099.5511
10/12/1754FEN-D2DRRH27.23144.68154.11185.03133.03168.42156.05204.90155.32213.202911.51514.12013.42813.9145.06414.334
11/13/1755CBMVH211.1396.07305.22448.09444.052418.7489.314110.7389.61413.112733.76715.62817.54617.13610.13514.435
12/11/1756OVODH28.87264.74173.64135.51174.822912.8346.51249.91359.96433.132816.63014.82614.13215.4276.922113.231
01/24/1857SMSSRQ134.811647.412222.412527.312228.810746.79723.610249.511743.411820.911837.77544.111134.611733.011439.111049.8101
02/07/1858DFQ156.113847.712327.913436.113546.713562.511950.214072.413869.914037.813788.213870.013752.813850.213977.513891.8141
02/28/1859SDRH27.69195.41204.22204.2062.731110.2205.40146.40225.76244.724911.21415.42713.42716.5355.22713.030
03/09/1860SGM_RVCH218.46237.4995.31459.035114.26531.76514.37624.76712.6565.275631.86329.76924.97922.06618.66328.262
03/11/1861SGM-ForestH27.37164.71163.69144.93123.181711.1275.37135.57195.81252.651714.52513.21613.12414.8235.631211.224
03/14/1862DTSH213.4478.45407.54667.46395.503114.93610.24524.56525.1844.935119.23518.74014.63415.93213.04917.239
03/23/1863MEDIAN_ROBH297.814396.114295.614299.014398.414398.414299.214398.414398.114299.014399.014399.614399.914394.714395.114298.3142
03/23/1864AVERAGE_ROBH297.614296.214396.514396.814297.814297.814198.214297.914298.214398.914298.914299.114299.714293.114297.914398.9143
03/26/1865ELAS_RVCH227.38843.411112.49513.98123.89266.412120.49233.08420.77611.08943.98437.59326.38528.79738.410633.369
04/17/1866ISMQ140.812542.510826.413334.813336.112544.58934.412456.212752.713125.212551.010652.412339.712633.311638.810875.3132
05/01/1867PSMNet_ROBQ142.113133.08823.112730.112631.411454.811030.711948.711448.312228.313080.813653.512836.912338.612863.913571.2128
05/18/1868PDSH214.25014.4525.805310.56010.55122.15314.07114.5508.97355.936424.24621.54818.25218.95011.94533.670
05/22/1869DN-CSS_ROBH222.87531.4859.287713.57712.45844.38812.15428.17817.6689.118250.910540.010321.26025.08331.99243.288
05/26/1870NOSS_ROBH25.0113.5742.8433.9951.9335.1513.3423.3243.1522.3278.5537.4517.06412.555.2069.065
05/31/1871FBW_ROBH232.210936.3959.377814.28219.17969.312313.26451.011939.111210.88843.98441.510733.011329.910451.312571.4129
05/31/1872iResNet_ROBH224.88123.06810.28314.78512.45725.96012.96028.07724.98311.59346.69138.910121.46127.89245.611966.7125
05/31/1873CBMV_ROBH27.65183.4823.35114.80113.57226.3286.88264.84143.91101.97225.44811.11113.12315.8317.342713.833
06/05/1874CBMBNetH210.2338.30395.10426.87324.522611.5317.703013.94913.2573.042421.94013.31713.63015.42811.24211.021
06/14/1875MSMD_ROBQ130.910126.97814.610020.010322.68933.76827.811443.910638.411121.112049.59840.810631.810731.610737.510343.690
06/27/1876DCNNH210.9385.66264.98386.49295.733212.5338.514015.65210.9493.082624.14520.24416.84315.53010.33913.832
07/31/1877MotionStereoH240.412467.613925.013029.212540.913157.311435.512657.513140.411419.911342.88352.612539.812737.112551.712634.971
10/10/1878DISCOH224.57935.0927.346411.77018.77848.69917.18131.48222.4779.338446.09033.57927.59424.67927.58055.0111
10/29/1880iResNetH222.97628.3819.197615.89119.38235.17011.35027.77516.86715.210054.711227.66519.55421.56331.99151.6103
10/29/1879Dense-CNNH27.98215.59244.54295.83202.791210.4225.78188.26278.84332.661815.62814.22313.22513.296.301611.122
11/07/1881IEBIMstH233.811336.79712.19216.99732.511751.010225.310658.113249.812611.29148.69556.913230.210226.89126.97971.7130
11/08/1882HSM-Net_RVCF310.23212.0495.32467.50416.723715.6399.89446.83235.14174.174522.74217.13415.63814.31810.84014.636
11/11/1883MBMH222.87436.4969.958215.38919.38136.57519.99027.57418.16910.18641.58032.77726.38623.37321.47439.983
11/28/1884MSFNetAH27.96206.21324.26226.02243.66238.95186.28228.41308.06312.621517.93213.91911.91811.538.002910.618
01/12/1986EHCI_netH29.47283.75104.272313.17427.61035.3023.2313.4773.1833.90399.2049.5849.261113.91317.36010.616
01/17/1987FASWQ128.69441.710618.111123.111227.210240.68019.18834.98928.19218.510840.87936.48929.310028.49431.18941.084
12/18/1885MCV-MFCH224.88026.8779.638114.88617.47254.110914.27426.57118.27016.010462.612628.76820.95824.68037.410148.199
02/05/1988AMNetQ153.313654.312963.714151.213951.313740.68239.913451.612055.913555.414158.911757.513352.713749.513858.113161.6119
02/15/1989DAWA-FH227.48947.212113.69713.17619.28066.412120.49330.38033.91028.737948.99637.89526.79029.910328.08136.574
03/06/1990SM-AWPQ138.112030.78424.012925.211930.311044.99038.113156.012555.813419.911460.112151.212032.110830.210540.011361.7120
03/09/19913DMST-CMH25.4734.10133.37122.9922.95157.63134.5593.2633.95112.16410.288.2826.37213.285.86139.358
04/12/1992TCSCSMH219.16645.21175.765211.06722.18841.18313.46524.86811.4537.177129.55626.66026.68720.55816.55917.441
05/10/1993tMGM-16F317.3588.70426.49579.825720.78513.73513.97021.86016.0635.576026.95025.45828.39622.16714.65339.681
05/13/1994VNH214.2519.69439.588010.9667.33409.541913.86911.34111.3527.177127.45223.35324.87822.87014.65418.447
05/15/1995PSMNet_2000H228.99620.4638.237015.18827.710535.27115.27950.811851.81299.298361.912431.17325.28027.89229.38552.9105
05/28/1996PWCA_SGMQ130.910043.911418.911322.911124.49450.910122.29635.79027.59120.611753.410940.610532.411233.311732.39342.186
06/26/1997DeepPruner_ROBQ130.19734.29119.911624.311723.89247.29826.110726.17022.87818.410759.812036.59023.26831.710948.312344.894
07/26/1998EdgeStereoF318.76325.3726.796010.66225.19722.1538.313724.56316.5646.63689.20432.07524.67620.25519.26654.3109
11/01/1999NVstereo2DH215.45411.5455.33477.21379.504718.04713.76712.94610.6474.414718.03324.45522.06421.26222.47553.6107
11/07/19100LBPSH29.68295.05184.98385.57183.24186.03712.9615.44185.50223.553515.22715.93017.54517.3389.843228.363
11/11/19101SACA-NetQ131.710521.86616.010521.510924.59538.07634.612538.69636.310819.011149.49740.210432.110933.611836.09658.2115
11/14/19102HSM-Smooth-OccF310.83711.7465.62498.75508.394515.4379.60428.29286.11274.094223.64420.44517.04413.41110.23716.638
11/15/19103SPPSMNetF341.412832.58620.611934.013133.011855.911336.312953.812248.612335.013571.613152.812637.112438.112746.712156.9114
12/19/19104CRLEH25.7563.6663.1195.92212.1456.0163.3943.4993.6872.34810.289.6368.04714.9245.45119.267
12/30/19105F-GDGIFH231.610437.3987.726716.19334.912335.27220.19155.312446.61199.018147.69352.912729.410129.710229.48761.0118
01/02/20106PPEP-GFQ134.611542.410721.712324.811830.811244.08725.110545.711042.111620.111544.18643.611035.212032.811339.311255.0112
01/05/20107MTS2F353.813751.712721.512238.813752.713897.514043.013766.413660.813632.013285.713769.013646.313445.113271.213785.2137
01/07/20108ADSR_GIFQ137.111843.611318.611236.713624.69658.611622.89956.312849.712518.711056.011348.511832.211024.57836.39779.1134
02/07/20109CasStereoH218.86423.9709.017310.55911.75574.012913.16310.1367.86304.094245.48925.25624.47517.33920.57244.392
02/20/20110CRARH222.07323.26913.59616.49516.37021.05121.89528.57926.99010.58732.56432.97823.36923.67520.37137.475
02/24/20111SGBMPF327.89037.510216.310717.19827.610475.713214.67833.48725.88712.29760.312234.08023.16729.310028.78431.267
03/13/20112MTSF359.713958.813525.213151.113860.413991.313748.313970.313763.413744.413979.313471.713860.914047.413679.614088.4138
04/19/20113PVStereoH26.0283.76112.8853.7731.9215.6954.96103.3653.4652.531411.71611.61410.61515.2265.42109.6313
05/14/20114SRMH213.1448.50417.04627.86427.734316.1437.903318.45718.5725.035222.34120.04218.15118.54811.34319.348
05/19/20115SUWNetQ130.19824.57113.99820.310420.08335.77326.110840.910243.211717.910549.810128.66724.47428.59652.512837.978
05/20/20116AANet++H215.45517.5588.377110.2589.864923.9569.824317.75615.9623.253218.13427.16316.24018.44720.06937.777
05/23/20117CCNetQ131.910827.07916.010620.310518.67738.87752.014135.99134.010318.610949.69930.57226.78936.212437.19962.0121
05/28/20119RTSMNetH245.613347.011921.912431.913036.412675.113143.913858.913355.313332.713362.212556.413142.213039.112958.013059.9117
05/28/20118LEAStereoH27.15137.56384.52274.6294.64278.83165.66165.86206.03263.303413.12111.31210.31412.147.06249.9014
06/08/20120MANEH230.910254.713111.58814.68429.410852.610826.411045.110931.510111.59342.58241.810833.111431.610834.29543.589
07/16/20121HLocalExp-CMH25.6853.6872.9573.9242.4578.12143.4153.74103.5362.17510.2810.0108.751014.1175.1259.6112
07/17/20122GANetREF_RVCH218.96516.6576.42567.403810.65225.85912.25536.59335.51064.104433.86820.14316.44220.25614.35248.1100
07/21/20123AANet_RVCH225.28222.66711.38712.97315.96830.56417.98333.48630.9986.346728.85543.410925.38226.79037.09869.8127
08/09/20124UCNetH210.13014.6557.91697.10346.983916.3446.822513.44812.3552.822010.1717.4369.481214.6219.853310.616
08/10/20125CVANet_RVCQ131.810625.67314.610121.711022.18739.87828.411744.710847.012019.111250.610330.47124.77729.310152.112741.685
08/11/20126NLCA_NET_v2_RVCH210.43411.8474.12196.39286.443519.74910.94714.55013.2583.263321.23914.72410.11314.5207.172511.525
08/12/20127CFNet_RVCH210.13114.4547.81687.12356.613615.5387.532912.34411.5543.022310.71216.63210.71615.42910.9419.014
08/14/20128STTRV1_RVCQ141.813026.87629.113636.013430.711146.19635.812739.29839.711342.113874.713349.411934.411647.513762.813354.4110
08/30/20129LE_PCH25.5843.5232.9984.2471.9215.3933.4263.1623.7282.3067.8329.9097.79617.4404.7439.519
09/03/20130LPSMQ139.512340.010320.712028.312434.012134.36923.810356.712952.413024.912436.97366.313540.612937.512646.612079.3135
09/09/20131AdaStereoF313.74819.6607.416510.66314.56615.7407.853222.6619.32387.00709.20422.44914.53317.84514.85524.255
09/24/20132ACMCQ131.910750.812516.510823.411321.28651.110426.511139.59928.89415.910351.310737.99732.311133.111539.311153.1106
10/28/20133HITNetH26.46106.25334.67324.5182.1766.5295.18112.9212.6612.371036.7719.2836.27111.214.6119.5410
11/10/20134FC-DCNNH217.95921.2656.52589.565414.16431.96623.410123.46219.7745.936426.94922.85120.05519.35218.26123.954
11/12/20135RLStereoH227.99220.56415.010323.511426.310151.510535.812827.17323.48115.610163.612732.37621.56223.27244.711817.442
11/12/20136UnDAF-GANetH216.2563.7492.94616.79618.37424.15726.310919.25815.7611.86136.87226.86111.11724.8816.542028.061
11/16/20137SSCasStereoH215.25333.6895.73518.134612.65951.11038.193516.7545.02165.706148.59417.33516.03920.15412.3489.256
11/17/20138RASNetH213.14511.9485.65505.71198.364425.8588.31377.18255.29202.932225.04716.03113.93118.44638.210421.451
11/21/20139DecStereoF320.26919.45911.99015.69013.56223.05526.711213.34715.1597.607428.35430.27023.47017.64138.910938.479
11/25/20140LPSCH210.7365.15194.23215.48166.383416.5457.84319.563310.3464.024020.23719.04117.74718.5499.733118.045
11/26/20141CooperativeStereoQ128.89528.58312.39417.39918.57662.311822.49836.39224.78215.810274.513237.89628.49726.68941.611428.464
12/22/20142SLCCFH28.83256.97364.90356.05254.35258.89175.33126.29215.15184.805013.01918.13817.84917.7426.932215.437
12/24/20143ACR-GIF-OWQ124.57837.510010.88516.39417.47344.99117.28233.58825.28511.49245.48835.78526.68823.37423.67638.480

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Last modified: June 24 2020 by Daniel Scharstein