Stereo Matching on KITTI 2012
0.0145Error Rate (3px, All)LEAStereo
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LEAStereoRun-time=0.3s2020.07 | 0.0145 | 0.019 | 0.0239 | 0.0113 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| GANet-deepRun-time=1.8s2020.07 | 0.016 | 0.0189 | 0.025 | 0.0119 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| EdgeStereo-V2Run-time=0.32s2020.07 | 0.0183 | 0.0232 | 0.0288 | 0.0146 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetRun-time=0.02s2020.07 | 0.0189 | 0.02 | 0.0265 | 0.0141 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| GC-NetRun-time=0.9s2020.07 | 0.023 | 0.0271 | 0.0346 | 0.0177 | 0.6 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | |
| ESMNetRun-time=0.06s2020.07 | 0.0253 | 0.0365 | 0.043 | 0.0208 | 0.6 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | |
| RTSNetRun-time=0.02s2020.07 | 0.029 | 0.0398 | 0.0461 | 0.0243 | 0.7 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | |
| Fast DS-CSRun-time=0.02s2020.07 | 0.032 | 0.0454 | 0.0534 | 0.0261 | 0.7 | 0.8 | — | — | — | — | — | — | — | — | — | — | — | |
| MC-CNN-acrtRun-time=67s2020.07 | 0.0322 | 0.039 | 0.0545 | 0.0209 | 0.6 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | |
| SGM-NetRun-time=67s2020.07 | 0.035 | 0.036 | 0.0515 | 0.0229 | 0.7 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | |
| PipStereoIters.=1, Latency(s)=0.442026.02 | 0.94 | 1.6 | 1.65 | 0.92 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonSter++Iters.=32, Latency(s)=7.632026.02 | 1.07 | 1.3 | 1.7 | 0.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MosterTarget=Accuracy, Time (ms)=4502025.12 | 1.09 | 1.36 | 1.75 | 0.84 | 0.4 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | |
| MonSterIters.=32, Latency(s)=7.632026.02 | 1.09 | 1.36 | 1.75 | 0.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DEFOMStereoIters.=32, Latency(s)=5.052026.02 | 1.18 | 1.43 | 1.79 | 0.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NMRFRuntime [s]=0.092024.03 | 1.35 | 1.59 | 2.07 | 1.01 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCWNetRuntime [s]=0.442024.03 | 1.37 | 1.69 | 2.18 | 1.04 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Selective-IGEVTarget=Accuracy, Time (ms)=2402025.12 | 1.38 | 1.59 | 2.05 | 1.07 | 0.4 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | |
| SelectiveIGEVIters.=12, Latency(s)=1.612026.02 | 1.38 | 1.59 | 2.05 | 1.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ICGNetmode=finetuned2024.02 | 1.41 | 1.7 | 2.14 | 1.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-MonSter++Iters.=4, Latency(s)=0.792026.02 | 1.41 | 1.75 | 2.26 | 1.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV-Stereomode=finetuned2024.02 | 1.44 | 1.71 | 2.17 | 1.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV-StereoRuntime [s]=0.182024.03 | 1.44 | 1.71 | 2.17 | 1.12 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEVTarget=Accuracy, Time (ms)=1802025.12 | 1.44 | 1.71 | 2.17 | 1.12 | 0.4 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | |
| GGEVTarget=Speed, Time (ms)=472025.12 | 1.44 | 1.66 | 2.17 | 1.1 | 0.4 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | |
| IGEVIters.=12, Latency(s)=1.292026.02 | 1.44 | 1.71 | 2.17 | 1.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereomode=finetuned2024.02 | 1.45 | 1.9 | 2.39 | 1.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereoRuntime [s]=0.32024.03 | 1.45 | 1.9 | 2.39 | 1.13 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CREStereomode=finetuned2024.02 | 1.46 | 1.72 | 2.18 | 1.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACVNetmode=finetuned2024.02 | 1.47 | 1.83 | 2.35 | 1.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACVNetRuntime [s]=0.22024.03 | 1.47 | 1.83 | 2.35 | 1.13 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSPNRuntime [s]=1.02024.03 | 1.53 | 1.79 | 2.27 | 1.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AcfNetmode=finetuned2024.02 | 1.54 | 1.83 | 2.35 | 1.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANetmode=finetuned2024.02 | 1.6 | 1.89 | 2.5 | 1.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet-deepRuntime [s]=1.82024.03 | 1.6 | 1.89 | 2.5 | 1.19 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-Stereomode=finetuned2024.02 | 1.66 | 1.92 | 2.42 | 1.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-StereoRuntime [s]=0.382024.03 | 1.66 | 1.92 | 2.42 | 1.3 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-StereoTarget=Accuracy, Time (ms)=3802025.12 | 1.66 | 1.92 | 2.42 | 1.3 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| RaftStereoIters.=32, Latency(s)=2.952026.02 | 1.66 | 1.92 | 2.42 | 1.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-IGEVTarget=Speed, Time (ms)=402025.12 | 1.68 | 1.93 | 2.51 | 1.29 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| RT-IGEV++Iters.=6, Latency(s)=0.392026.02 | 1.68 | 1.93 | 2.51 | 1.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNetmode=finetuned2024.02 | 1.7 | 2.16 | 2.71 | 1.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNetRuntime [s]=0.322024.03 | 1.7 | 2.16 | 2.71 | 1.32 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| BANet-3DTarget=Speed, Time (ms)=302025.12 | 1.72 | 2.08 | 2.71 | 1.27 | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| MAFNetTime (ms)=192025.12 | 1.76 | — | — | 1.36 | 0.5 | 0.5 | — | — | — | 0.98 | 1.31 | — | — | — | — | — | — | |
| BANet-2DTime (ms)=212025.12 | 1.79 | — | — | 1.38 | 0.5 | 0.5 | — | — | — | 1.01 | 1.32 | — | — | — | — | — | — | |
| EdgeStereomode=finetuned2024.02 | 1.83 | 2.32 | 2.88 | 1.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-ACVNet+Time (ms)=372025.12 | 1.85 | — | — | 1.45 | 0.5 | 0.5 | — | — | — | 1.06 | 1.36 | — | — | — | — | — | — | |
| Fast-ACVNet+Target=Speed, Time (ms)=452025.12 | 1.85 | 2.39 | 2.97 | 1.45 | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| FastACVNet+Iters.=X, Latency(s)=0.272026.02 | 1.85 | 2.39 | 2.97 | 1.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetmode=finetuned2024.02 | 1.89 | 2 | 2.65 | 1.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNetRuntime [s]=0.412024.03 | 1.89 | 2.44 | 3.01 | 1.49 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetTime (ms)=122025.12 | 1.89 | — | — | 1.41 | 0.4 | 0.5 | — | — | — | 1.14 | 1.53 | — | — | — | — | — | — | |
| HITNetTarget=Speed, Time (ms)=202025.12 | 1.89 | 2 | 2.65 | 1.41 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| HITNet(L)Iters.=X, Latency(s)=0.442026.02 | 1.89 | 2 | 2.65 | 1.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoExTime (ms)=242025.12 | 1.93 | — | — | 1.55 | 0.5 | 0.5 | — | — | — | 1.15 | 1.42 | — | — | — | — | — | — | |
| CoExTarget=Speed, Time (ms)=272025.12 | 1.93 | 2.54 | 3.09 | 1.55 | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| CoExIters.=X, Latency(s)=0.172026.02 | 1.93 | 2.54 | 3.09 | 1.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BGNet+Time (ms)=282025.12 | 2.03 | — | — | 1.62 | 0.5 | 0.6 | — | — | — | 1.16 | 1.48 | — | — | — | — | — | — | |
| BGNet+Target=Speed, Time (ms)=352025.12 | 2.03 | 2.78 | 3.35 | 1.62 | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| BGNet+Iters.=X, Latency(s)=0.162026.02 | 2.03 | 2.78 | 3.35 | 1.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANet+Time (ms)=492025.12 | 2.04 | — | — | 1.55 | 0.4 | 0.5 | — | — | — | 1.2 | 1.58 | — | — | — | — | — | — | |
| AANetIters.=X, Latency(s)=0.482026.02 | 2.04 | 2.3 | 2.96 | 1.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANetTarget=Speed, Time (ms)=602025.12 | 2.05 | 2.3 | 2.96 | 1.55 | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-ACVNetTime (ms)=312025.12 | 2.13 | — | — | 1.68 | 0.5 | 0.6 | — | — | — | 1.23 | 1.56 | — | — | — | — | — | — | |
| IINetTarget=Speed, Time (ms)=262025.12 | 2.21 | 2.76 | 3.34 | 1.81 | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| IINetIters.=X, Latency(s)=0.292026.02 | 2.21 | 2.76 | 3.34 | 1.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GCNetRuntime [s]=0.92024.03 | 2.3 | 2.71 | 3.46 | 1.77 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| LightStereo(S)Iters.=X, Latency(s)=0.132026.02 | 2.34 | 3.28 | 3.93 | 1.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GREATEN-DepthAny-IGEVVFM Category=VFM-Enhanced, Training Data=Syn-to-Real Mixed, Evaluation Protocol=Zero-shot2026.04 | 3.11 | — | — | 1.44 | 0.55 | 0.72 | — | — | — | — | — | — | — | — | — | — | — | |
| GREATEN-SelectiveVFM Category=VFM-Free, Training Data=Syn-to-Real Mixed, Evaluation Protocol=Zero-shot2026.04 | 3.21 | — | — | 1.46 | 0.54 | 0.71 | — | — | — | — | — | — | — | — | — | — | — | |
| GREATEN-IGEVVFM Category=VFM-Free, Training Data=Syn-to-Real Mixed, Evaluation Protocol=Zero-shot2026.04 | 3.3 | — | — | 1.5 | 0.56 | 0.73 | — | — | — | — | — | — | — | — | — | — | — | |
| PBCPRuntime [s]=682024.03 | 3.45 | 3.63 | 5.01 | 2.36 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Prompt-StereoVFM Category=VFM-Enhanced, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 3.77 | — | — | 3.32 | 0.73 | 0.79 | — | — | — | — | — | — | — | — | — | — | — | |
| Stereo AnywhereZero-shot=true, Training dataset=SceneFlow2024.12 | 3.9 | — | — | 3.52 | — | 0.83 | — | — | 21.65 | — | — | — | — | — | — | — | — | |
| StereoAnywhereVFM Category=VFM-Enhanced, Training Data=Hypersim, Evaluation Protocol=Zero-shot, Backbone=Frozen RAFT-Stereo checkpoint2026.04 | 3.9 | — | — | 3.52 | — | 0.83 | — | — | — | — | — | — | — | — | — | — | — | |
| DEFOM-StereoVFM Category=VFM-Enhanced, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 3.9 | — | — | 3.52 | 0.78 | 0.83 | — | — | — | — | — | — | — | — | — | — | — | |
| GREATEN-DepthAny-IGEVVFM Category=VFM-Enhanced, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 3.9 | — | — | 2 | 0.66 | 0.84 | — | — | — | — | — | — | — | — | — | — | — | |
| Bridge-DepthVFM Category=VFM-Enhanced, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.04 | — | — | 3.63 | 0.77 | 0.83 | — | — | — | — | — | — | — | — | — | — | — | |
| SMFormer2026.04 | 4.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MG-StereoVFM Category=VFM-Enhanced, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.14 | — | — | 3.71 | 0.8 | 0.86 | — | — | — | — | — | — | — | — | — | — | — | |
| PCWNet2026.04 | 4.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SMoE-StereoVFM Category=VFM-Enhanced, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.23 | — | — | 3.76 | 0.77 | 0.83 | — | — | — | — | — | — | — | — | — | — | — | |
| Former-PSMNet (SAM)Pre-trained VFM=true2026.04 | 4.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LoS2026.04 | 4.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCVNetZero-shot=true, Training dataset=SceneFlow2024.12 | 4.44 | — | — | 3.92 | — | 0.89 | — | — | 27.7 | — | — | — | — | — | — | — | — | |
| UCFNet_pretrain2026.04 | 4.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GREATEN-IGEVVFM Category=VFM-Free, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.54 | — | — | 2.27 | 0.72 | 0.91 | — | — | — | — | — | — | — | — | — | — | — | |
| NMRFZero-shot=true, Training dataset=SceneFlow2024.12 | 4.62 | — | — | 4.05 | — | 0.92 | — | — | 30.65 | — | — | — | — | — | — | — | — | |
| Monster-StereoVFM Category=VFM-Enhanced, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.62 | — | — | 4.12 | 0.88 | 0.93 | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-StereoVFM Category=VFM-Free, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.65 | — | — | 2.84 | 0.74 | 0.92 | — | — | — | — | — | — | — | — | — | — | — | |
| GREATEN-SelectiveVFM Category=VFM-Free, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.67 | — | — | 2.39 | 0.72 | 0.92 | — | — | — | — | — | — | — | — | — | — | — | |
| CFNet2026.04 | 4.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCV-StereoVFM Category=VFM-Free, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 4.73 | — | — | 3.12 | 0.78 | 0.95 | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-StereoZero-shot=true, Training dataset=SceneFlow2024.12 | 4.8 | — | — | 4.23 | — | 0.89 | — | — | 29.21 | — | — | — | — | — | — | — | — | |
| RAFT-Stereo2026.04 | 5.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV-StereoVFM Category=VFM-Free, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 5.13 | — | — | 3.08 | 0.82 | 1.03 | — | — | — | — | — | — | — | — | — | — | — | |
| GREAT-IGEVVFM Category=VFM-Free, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 5.31 | — | — | 3.35 | 0.81 | 1.02 | — | — | — | — | — | — | — | — | — | — | — | |
| Selective-IGEVVFM Category=VFM-Free, Training Data=SceneFlow, Evaluation Protocol=Zero-shot2026.04 | 5.64 | — | — | 3.47 | 0.92 | 1.08 | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV-StereoZero-shot=true, Training dataset=SceneFlow2024.12 | 5.65 | — | — | 4.43 | — | 1.03 | — | — | 33.38 | — | — | — | — | — | — | — | — |