Stereo Matching on KITTI 2012 (test)
0.84Outlier Rate (3px, Noc)Monster
Evaluation results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Monster2026.04 | 0.84 | — | — | 1.36 | 1.75 | 1.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MLG-Stereo-GBackbone=DINOv2-G2026.04 | 0.86 | — | — | 1.37 | 1.71 | 1.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV++Backbone=Depth Anything 22026.04 | 0.89 | — | — | 1.36 | 1.74 | 1.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MLG-Stereo-LBackbone=DINOv2-L2026.04 | 0.91 | — | — | 1.41 | 1.76 | 1.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VITAStereo2026.04 | 0.93 | — | — | 1.46 | 1.8 | 1.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DEFOM-Stereo2026.04 | 0.94 | — | — | 1.43 | 1.79 | 1.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet + Oursbaseline=GANet2023.06 | 0.98 | — | — | 1.52 | 2.01 | 1.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Reg-Stereo2026.04 | 1.04 | — | — | — | — | 1.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet + LaC2023.06 | 1.05 | — | — | 1.72 | 2.26 | 1.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNet + Oursbaseline=GwcNet2023.06 | 1.05 | — | — | 1.65 | 2.17 | 1.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AIO-Stereo2026.04 | 1.05 | — | — | 1.58 | 1.94 | 1.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Selective-IGEV2026.04 | 1.07 | — | — | 1.59 | 2.05 | 1.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lite Any StereoMACs (G)=33, Input Size=1242 × 3752025.11 | 1.09 | — | — | — | — | 1.49 | 0.76 | 1.04 | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV-StereoRun-time (s)=0.18, inference updates=162023.03 | 1.12 | — | — | 1.71 | 2.17 | 1.44 | — | — | — | — | — | — | 0.4 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | |
| IGEVStereo2023.06 | 1.12 | — | — | 1.71 | 2.17 | 1.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV-Stereo2026.04 | 1.12 | — | — | 1.71 | 2.17 | 1.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UPFNet2026.04 | 1.12 | — | — | 1.79 | 2.28 | 1.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereo2020.10 | 1.13 | — | — | 1.9 | — | — | — | — | — | — | 5.35 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereotime (s)=0.3, Finetuned=true2021.04 | 1.13 | — | — | — | — | 1.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereoRun-time (s)=0.32022.03 | 1.13 | — | — | 1.9 | 2.39 | 1.45 | — | — | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| ACVNetRun-time (s)=0.22022.03 | 1.13 | — | — | 1.83 | 2.35 | 1.47 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereoRun-time (s)=0.302023.03 | 1.13 | — | — | 1.9 | 2.39 | 1.45 | — | — | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| ACVNetRun-time (s)=0.202023.03 | 1.13 | — | — | 1.83 | 2.35 | 1.47 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| ACVNet2023.06 | 1.13 | — | — | 1.83 | 2.34 | 1.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereo2023.06 | 1.13 | — | — | 1.9 | 2.39 | 1.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DMCA-Net2026.04 | 1.13 | — | — | 1.83 | 2.35 | 1.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CREStereoRun-time (s)=0.412023.03 | 1.14 | — | — | 1.72 | 2.18 | 1.46 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNet + Oursbaseline=PSMNet2023.06 | 1.14 | — | — | 1.8 | 2.32 | 1.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CREStereo2026.04 | 1.14 | — | — | 1.72 | 2.18 | 1.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AcfNet2019.09 | 1.17 | — | — | 1.83 | 2.35 | 1.54 | 0.92 | 1.21 | 0.77 | 1.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AcfNettime (s)=0.48, Finetuned=true2021.04 | 1.17 | — | — | — | — | 1.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AcfNetRun-time (s)=0.482022.03 | 1.17 | — | — | 1.83 | 2.35 | 1.54 | — | — | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| AcfNetRun-time (s)=0.482023.03 | 1.17 | — | — | 1.83 | 2.35 | 1.54 | — | — | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| AcfNet2023.06 | 1.17 | — | — | 1.83 | 2.35 | 1.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet-deep2020.10 | 1.19 | — | — | 1.89 | — | — | — | — | — | — | 6.22 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANetRuntime (ms)=18002021.01 | 1.19 | — | — | 1.89 | 2.5 | 1.6 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| GANet-deeptime (s)=1.8, Finetuned=true2021.04 | 1.19 | — | — | — | — | 1.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet-deepRun-time (s)=1.82022.03 | 1.19 | — | — | 1.89 | 2.5 | 1.6 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| GANet-deepRun-time (s)=1.802023.03 | 1.19 | — | — | 1.89 | 2.5 | 1.6 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| CSPNRun-time (s)=1.002023.03 | 1.19 | — | — | 1.79 | 2.27 | 1.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet2023.06 | 1.19 | — | — | 1.89 | 2.5 | 1.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFNettime (s)=0.18, Finetuned=true2021.04 | 1.23 | — | — | — | — | 1.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFNetRun-time (s)=0.182022.03 | 1.23 | — | — | 1.9 | 2.43 | 1.58 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| BANet-3DMACs (G)=78, Input Size=1242 × 3752025.11 | 1.27 | — | — | — | — | 1.72 | 0.95 | 1.27 | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-StereoRun-time (s)=0.382023.03 | 1.3 | — | — | 1.92 | 2.42 | 1.66 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-Stereo2026.04 | 1.3 | — | — | 1.92 | 2.42 | 1.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNet-gc2019.09 | 1.32 | — | — | 2.16 | 2.71 | 1.7 | 0.99 | 1.27 | 0.8 | 1.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNetRun-time (s)=0.322022.03 | 1.32 | — | — | 2.16 | 2.71 | 1.7 | — | — | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNetRun-time (s)=0.322023.03 | 1.32 | — | — | 2.16 | 2.71 | 1.7 | — | — | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNet2023.06 | 1.32 | — | — | 2.16 | 2.71 | 1.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNet + [2]2023.06 | 1.35 | — | — | 2.17 | 2.81 | 1.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GA-Net2019.09 | 1.36 | — | — | 2.18 | 2.79 | 1.8 | 1.03 | 1.37 | 0.83 | 1.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ADStereo2026.04 | 1.36 | — | — | 2.23 | 2.69 | 1.68 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BANet-2DMACs (G)=36, Input Size=1242 × 3752025.11 | 1.38 | — | — | — | — | 1.79 | 1.01 | 1.32 | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| HD3-Stereo2019.09 | 1.4 | — | — | 2 | 2.56 | 1.8 | 1.12 | 1.43 | 0.94 | 1.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HD^3time (s)=0.14, Finetuned=true2021.04 | 1.4 | — | — | — | — | 1.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNettime (s)=0.015, Finetuned=true2021.04 | 1.41 | — | — | — | — | 1.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetTime (ms)=202022.03 | 1.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetRun-time (s)=0.022022.03 | 1.41 | — | — | 2 | 2.65 | 1.89 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetRun-time (s)=0.022023.03 | 1.41 | — | — | 2 | 2.65 | 1.89 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetMACs (G)=47, Input Size=1242 × 3752025.11 | 1.41 | — | — | — | — | 1.89 | 1.14 | 1.53 | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| Lite-CREStereo++MACs (G)=93, Input Size=1242 × 3752025.11 | 1.43 | — | — | — | — | 1.82 | 1.12 | 1.44 | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-ACVNet+MACs (G)=85, Input Size=1242 × 3752025.11 | 1.45 | — | — | — | — | 1.85 | 1.06 | 1.36 | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| EdgeStereo-V2Runtime (ms)=3202021.01 | 1.46 | — | — | 2.32 | 2.88 | 1.83 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| EdgeStereoRun-time (s)=0.322022.03 | 1.46 | — | — | 2.32 | 2.88 | 1.83 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| EdgeStereo-V2Run-time (s)=0.322023.03 | 1.46 | — | — | 2.32 | 2.88 | 1.83 | — | — | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNet2019.09 | 1.49 | — | — | 2.44 | 3.01 | 1.89 | 1.12 | 1.42 | 0.9 | 1.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNet2020.10 | 1.49 | — | — | 2.44 | — | — | — | — | — | — | 8.36 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNetRuntime (ms)=4102021.01 | 1.49 | — | — | 2.44 | 3.01 | 1.89 | — | — | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNetRun-time (s)=0.412022.03 | 1.49 | — | — | 2.44 | 3.01 | 1.89 | — | — | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNetRun-time (s)=0.412023.03 | 1.49 | — | — | 2.44 | 3.01 | 1.89 | — | — | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNet2023.06 | 1.49 | — | — | 2.44 | 3.01 | 1.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNet2026.04 | 1.49 | — | — | 2.44 | 3.01 | 1.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HSMNettime (s)=0.14, Finetuned=true2021.04 | 1.53 | — | — | — | — | 1.99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANet+time (s)=0.06, Finetuned=true2021.04 | 1.55 | — | — | — | — | 2.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANet+Input Size=1242 × 3752025.11 | 1.55 | — | — | — | — | 2.04 | 1.2 | 1.58 | — | — | — | — | 0.4 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| CoExMACs (G)=54, Input Size=1242 × 3752025.11 | 1.55 | — | — | — | — | 1.93 | 1.15 | 1.42 | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| LightStereo-LMACs (G)=84, Input Size=1242 × 3752025.11 | 1.55 | — | — | — | — | 1.87 | 1.1 | 1.33 | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| LightStereo-MMACs (G)=33, Input Size=1242 × 3752025.11 | 1.56 | — | — | — | — | 1.91 | 1.1 | 1.36 | — | — | — | — | 0.5 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | |
| BGNet+Runtime (ms)=32.32021.01 | 1.62 | — | — | 2.78 | 3.35 | 2.03 | — | — | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| BGNet+MACs (G)=77, Input Size=1242 × 3752025.11 | 1.62 | — | — | — | — | 2.03 | 1.16 | 1.48 | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| SegStereo2019.09 | 1.68 | — | — | 2.66 | 3.19 | 2.03 | 1.25 | 1.52 | 1 | 1.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-ACVNetMACs (G)=72, Input Size=1242 × 3752025.11 | 1.68 | — | — | — | — | 2.13 | 1.23 | 1.56 | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| AutoDispNet-CSS2020.10 | 1.7 | — | — | 2.54 | — | — | — | — | — | — | 5.69 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iResNet-i22019.09 | 1.71 | — | — | 2.69 | 3.34 | 2.16 | 1.3 | 1.63 | 1.06 | 1.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iResNet2-12Runtime (ms)=1202021.01 | 1.71 | — | — | 2.69 | 3.34 | 2.16 | — | — | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| GC-Net2019.09 | 1.77 | — | — | 2.71 | 3.46 | 2.3 | 1.36 | 1.77 | 1.12 | 1.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GCNet2020.10 | 1.77 | — | — | 2.71 | — | — | — | — | — | — | 10.8 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GC-NetRuntime (ms)=9002021.01 | 1.77 | — | — | 2.71 | 3.46 | 2.3 | — | — | — | — | — | — | 0.6 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | |
| BGNetRuntime (ms)=25.42021.01 | 1.77 | — | — | 3.13 | 3.69 | 2.15 | — | — | — | — | — | — | 0.6 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| GC-NetRun-time (s)=0.92022.03 | 1.77 | — | — | 2.71 | 3.46 | 2.3 | — | — | — | — | — | — | 0.6 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | |
| ACVNet-FastTime (ms)=482022.03 | 1.82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANet2020.10 | 1.91 | — | — | 2.9 | — | — | — | — | — | — | 10.51 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANetRuntime (ms)=622021.01 | 1.91 | — | — | 2.9 | 3.6 | 2.42 | — | — | — | — | — | — | 0.5 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | |
| AANetTime (ms)=622022.03 | 1.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PDS2019.09 | 1.92 | — | — | 3.82 | 4.65 | 2.53 | 1.38 | 1.85 | 1.12 | 1.51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PDSNet2023.06 | 1.92 | — | — | 3.82 | 4.65 | 2.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MC-CNN-acrtRuntime (ms)=670002021.01 | 2.09 | — | — | 3.9 | 5.45 | 3.22 | — | — | — | — | — | — | 0.6 | 0.7 | — | — | — | — | — | — | — | — | — | — | — | |
| SGM-NetRuntime (ms)=670002021.01 | 2.29 | — | — | 3.6 | 5.15 | 3.5 | — | — | — | — | — | — | 0.7 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | |
| FADNetRuntime (ms)=502021.01 | 2.42 | — | — | 3.98 | 4.63 | 2.86 | — | — | — | — | — | — | 0.6 | 0.7 | — | — | — | — | — | — | — | — | — | — | — |