Iterative Semi-Global Matching [iSGM]

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Iterative Semi-Global Matching [iSGM]

Submitted on 27 Jun. 2012 05:56 by
Simon Hermann (The University of Auckland)

Running time: 8 sEnvironment: 2 cores @ 2.5 Ghz (C/C++)
Method Description:

The conceptual parallel scan-line integration strategy of standard SGM is translated into an iterative scheme. The accumulation buffer is evaluated to a prior disparity map after horizontal and after vertical integration. The results serve as input to generate a novel data structure, thesemi-global distance map (SGDM), that allows a fast analysis of spatial disparity information. This information is used to reduce thesearch-space and also increases the robustness of the final solution, especially in case of weak underlying stereo data.

The method is coupled with a coarse-to-fine approach where 
costs rather than disparities are upscaled. Full left-right 
consistency checks are performed throughout the method.

Run-time without SSE-optimization and without GPU usage.

Parameters:

P1=35
P2=350
search space=[0,255]

Latex Bibtex:

@INPROCEEDINGS{HERM2012, 
author = {Simon Hermann and Reinhard Klette}, 
title = {Iterative Semi-Global Matching for Robust Driver 
Assistance Systems}, 
booktitle = {ACCV}, 
year = {2012} 
}

Detailed Results

This page provides detailed results for the method(s) selected. For each of the first 20 test images, the number of erroneous pixels at all thresholds is depicted in the table. Underneath, the left input image, the disparity / end-point error map and the estimated (and interpolated) disparity / optical flow map are shown. The error map scales linearly between 0 (black) and >=5 (white) pixels error. Red denotes all occluded pixels, falling outside the image boundaries. The false color map is scaled to the largest ground truth disparity / flow value.

Test Set Average

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels7.94 %10.00 %1.2 px2.1 px3 pixels5.11 %7.15 %1.2 px2.1 px4 pixels3.84 %5.82 %1.2 px2.1 px5 pixels3.13 %5.02 %1.2 px2.1 pxThis table as LaTeX

Reflective Regions

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels31.87 %35.72 %4.7 px8.6 px3 pixels24.67 %28.86 %4.7 px8.6 px4 pixels20.52 %24.84 %4.7 px8.6 px5 pixels17.73 %22.10 %4.7 px8.6 pxThis table as LaTeX

Test Image 0

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels7.87 %10.52 %1.0 px1.9 px3 pixels5.59 %8.22 %1.0 px1.9 px4 pixels4.36 %6.89 %1.0 px1.9 px5 pixels3.46 %5.84 %1.0 px1.9 pxThis table as LaTeX

Test Image 1

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels6.53 %10.21 %0.9 px2.2 px3 pixels3.93 %7.57 %0.9 px2.2 px4 pixels3.00 %6.38 %0.9 px2.2 px5 pixels2.47 %5.55 %0.9 px2.2 pxThis table as LaTeX

Test Image 2

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels8.80 %10.49 %1.0 px1.8 px3 pixels5.56 %7.29 %1.0 px1.8 px4 pixels3.71 %5.42 %1.0 px1.8 px5 pixels2.67 %4.29 %1.0 px1.8 pxThis table as LaTeX

Test Image 3

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels7.42 %9.97 %0.8 px2.0 px3 pixels3.58 %6.23 %0.8 px2.0 px4 pixels2.25 %4.93 %0.8 px2.0 px5 pixels1.58 %4.27 %0.8 px2.0 pxThis table as LaTeX

Test Image 4

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels5.08 %7.19 %0.9 px1.7 px3 pixels2.85 %4.93 %0.9 px1.7 px4 pixels2.12 %4.13 %0.9 px1.7 px5 pixels1.76 %3.71 %0.9 px1.7 pxThis table as LaTeX

Test Image 5

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels2.87 %4.10 %0.6 px0.9 px3 pixels1.46 %2.49 %0.6 px0.9 px4 pixels1.10 %2.03 %0.6 px0.9 px5 pixels0.92 %1.77 %0.6 px0.9 pxThis table as LaTeX

Test Image 6

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels9.67 %12.19 %1.3 px1.9 px3 pixels6.29 %8.80 %1.3 px1.9 px4 pixels4.75 %7.11 %1.3 px1.9 px5 pixels3.88 %5.63 %1.3 px1.9 pxThis table as LaTeX

Test Image 7

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels11.61 %13.81 %1.4 px2.9 px3 pixels6.18 %8.51 %1.4 px2.9 px4 pixels4.11 %6.47 %1.4 px2.9 px5 pixels3.14 %5.43 %1.4 px2.9 pxThis table as LaTeX

Test Image 8

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels3.92 %5.65 %0.7 px1.2 px3 pixels2.25 %3.77 %0.7 px1.2 px4 pixels1.60 %2.92 %0.7 px1.2 px5 pixels1.31 %2.57 %0.7 px1.2 pxThis table as LaTeX

Test Image 9

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels14.29 %16.41 %1.3 px2.7 px3 pixels9.74 %11.97 %1.3 px2.7 px4 pixels6.97 %9.27 %1.3 px2.7 px5 pixels5.35 %7.69 %1.3 px2.7 pxThis table as LaTeX

Test Image 10

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels4.66 %6.40 %0.8 px1.7 px3 pixels2.54 %4.28 %0.8 px1.7 px4 pixels1.58 %3.32 %0.8 px1.7 px5 pixels1.22 %2.95 %0.8 px1.7 pxThis table as LaTeX

Test Image 11

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels14.23 %17.39 %1.8 px2.8 px3 pixels8.54 %11.86 %1.8 px2.8 px4 pixels5.64 %8.94 %1.8 px2.8 px5 pixels4.36 %7.45 %1.8 px2.8 pxThis table as LaTeX

Test Image 12

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels7.71 %10.09 %1.6 px4.5 px3 pixels5.70 %8.13 %1.6 px4.5 px4 pixels4.66 %7.12 %1.6 px4.5 px5 pixels4.26 %6.72 %1.6 px4.5 pxThis table as LaTeX

Test Image 13

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels10.12 %11.46 %1.5 px2.0 px3 pixels7.21 %8.56 %1.5 px2.0 px4 pixels5.96 %7.29 %1.5 px2.0 px5 pixels5.25 %6.57 %1.5 px2.0 pxThis table as LaTeX

Test Image 14

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels6.87 %8.91 %0.9 px1.7 px3 pixels3.82 %5.91 %0.9 px1.7 px4 pixels2.79 %4.88 %0.9 px1.7 px5 pixels2.26 %4.33 %0.9 px1.7 pxThis table as LaTeX

Test Image 15

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels7.49 %9.61 %1.1 px1.7 px3 pixels4.64 %6.57 %1.1 px1.7 px4 pixels2.95 %4.65 %1.1 px1.7 px5 pixels2.25 %3.67 %1.1 px1.7 pxThis table as LaTeX

Test Image 16

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels5.24 %6.74 %0.7 px1.1 px3 pixels2.51 %3.92 %0.7 px1.1 px4 pixels1.50 %2.78 %0.7 px1.1 px5 pixels1.06 %2.32 %0.7 px1.1 pxThis table as LaTeX

Test Image 17

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels7.37 %8.39 %1.2 px1.7 px3 pixels5.47 %6.43 %1.2 px1.7 px4 pixels4.62 %5.56 %1.2 px1.7 px5 pixels3.85 %4.76 %1.2 px1.7 pxThis table as LaTeX

Test Image 18

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels8.91 %10.10 %1.2 px1.6 px3 pixels7.02 %8.17 %1.2 px1.6 px4 pixels5.98 %7.11 %1.2 px1.6 px5 pixels5.25 %6.36 %1.2 px1.6 pxThis table as LaTeX

Test Image 19

ErrorOut-NocOut-AllAvg-NocAvg-All2 pixels5.31 %7.86 %0.8 px1.6 px3 pixels2.99 %5.38 %0.8 px1.6 px4 pixels1.87 %4.03 %0.8 px1.6 px5 pixels1.42 %3.29 %0.8 px1.6 pxThis table as LaTeX

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