Stereo Matching on KITTI 2015
1.33D1 Error (All)DEFOMStereo
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DEFOMStereoIters.=32, Latency(s)=5.052026.02 | 1.33 | 1.15 | — | — | — | 1.41 | — | — | 1.25 | — | — | — | — | — | — | — | — | |
| DEFOM-Stereo2025.10 | 1.33 | 1.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonSter++Iters.=32, Latency(s)=7.632026.02 | 1.37 | 1.12 | — | — | — | 1.29 | — | — | 1.02 | — | — | — | — | — | — | — | — | |
| MatchAttentionXL2025.10 | 1.4 | 1.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MosterTarget=Accuracy, Time (ms)=4502025.12 | 1.41 | 1.13 | 2.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonSterIters.=32, Latency(s)=7.632026.02 | 1.41 | 1.13 | — | — | — | 1.33 | — | — | 1.05 | — | — | — | — | — | — | — | — | |
| AIO-Stereo2025.10 | 1.43 | 1.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PipStereoIters.=1, Latency(s)=0.442026.02 | 1.44 | 1.33 | — | — | — | 1.49 | — | — | 1.2 | — | — | — | — | — | — | — | — | |
| Selective-IGEV2025.10 | 1.44 | 1.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Selective-IGEVTarget=Accuracy, Time (ms)=2402025.12 | 1.55 | 1.33 | 2.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SelectiveIGEVIters.=12, Latency(s)=1.612026.02 | 1.55 | 1.33 | — | — | — | 1.44 | — | — | 1.22 | — | — | — | — | — | — | — | — | |
| IGEV-Stereocheckpoint=provided by authors2024.03 | 1.59 | 1.38 | 2.67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEV-StereoRuntime [s]=0.182024.03 | 1.59 | 1.38 | 2.67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NMRFRuntime [s]=0.092024.03 | 1.59 | 1.28 | 3.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEVTarget=Accuracy, Time (ms)=1802025.12 | 1.59 | 1.38 | 2.67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGEVIters.=12, Latency(s)=1.292026.02 | 1.59 | 1.38 | — | — | — | 1.49 | — | — | 1.27 | — | — | — | — | — | — | — | — | |
| CGF-ACVcheckpoint=provided by authors2024.03 | 1.61 | 1.32 | 3.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereoRun-time=0.3s2020.07 | 1.65 | 1.4 | 2.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereoRuntime [s]=0.32024.03 | 1.65 | 1.4 | 2.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACVNetRuntime [s]=0.22024.03 | 1.65 | 1.37 | 3.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCWNetcheckpoint=provided by authors2024.03 | 1.67 | 1.37 | 3.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCWNetRuntime [s]=0.442024.03 | 1.67 | 1.37 | 3.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-MonSter++Iters.=4, Latency(s)=0.792026.02 | 1.69 | 1.47 | — | — | — | 1.52 | — | — | 1.33 | — | — | — | — | — | — | — | — | |
| GGEVTarget=Speed, Time (ms)=472025.12 | 1.7 | 1.38 | 3.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DKT-IGEVcheckpoint=ours2024.03 | 1.72 | 1.46 | 3.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSPN2020.08 | 1.74 | 1.52 | 2.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSPNRuntime [s]=1.02024.03 | 1.74 | 1.51 | 2.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DLNRcheckpoint=provided by authors2024.03 | 1.76 | 1.6 | 2.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BANet-3DTarget=Speed, Time (ms)=302025.12 | 1.77 | 1.52 | 3.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-IGEVTarget=Speed, Time (ms)=402025.12 | 1.79 | 1.48 | 3.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-IGEV++Iters.=6, Latency(s)=0.392026.02 | 1.79 | 1.48 | — | — | — | 1.64 | — | — | 1.34 | — | — | — | — | — | — | — | — | |
| GANet-deepRun-time=1.8s2020.07 | 1.81 | 1.48 | 3.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANetcheckpoint=provided by authors2024.03 | 1.81 | 1.48 | 3.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet-deepRuntime [s]=1.82024.03 | 1.81 | 1.48 | 3.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAFNetTime (ms)=192025.12 | 1.81 | 1.57 | 3.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TemporalStereoTarget=Speed, Time (ms)=452025.12 | 1.81 | 1.61 | 2.78 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-Stereocheckpoint=provided by authors2024.03 | 1.82 | 1.58 | 3.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-StereoRuntime [s]=0.382024.03 | 1.82 | 1.58 | 3.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RAFT-StereoTarget=Accuracy, Time (ms)=3802025.12 | 1.82 | 1.58 | 3.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RaftStereoIters.=32, Latency(s)=2.952026.02 | 1.82 | 1.58 | — | — | — | 1.69 | — | — | 1.44 | — | — | — | — | — | — | — | — | |
| BANet-2DTime (ms)=212025.12 | 1.83 | 1.59 | 3.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DKT-RAFTcheckpoint=ours2024.03 | 1.88 | 1.65 | 2.98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NLCANet_V2adaptation=none, Robust Vision Challenge 2020 context=true2021.04 | 1.92 | 1.51 | 3.97 | 1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANet2020.08 | 1.93 | 1.55 | 3.82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFNetadaptation=none, Robust Vision Challenge 2020 context=true2021.04 | 1.96 | 1.65 | 3.53 | 2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFNetadaptation=none, top methods in the past two years context=true2021.04 | 1.96 | 1.65 | 3.53 | 1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetRun-time=0.02s2020.07 | 1.98 | 1.74 | 3.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetTime (ms)=122025.12 | 1.98 | 1.74 | 3.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetTarget=Speed, Time (ms)=202025.12 | 1.98 | 1.74 | 3.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNet(L)Iters.=X, Latency(s)=0.442026.02 | 1.98 | 1.74 | — | — | — | 1.54 | — | — | 1.54 | — | — | — | — | — | — | — | — | |
| Fast-ACVNet+Time (ms)=372025.12 | 2.01 | 1.7 | 3.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-ACVNet+Target=Speed, Time (ms)=452025.12 | 2.01 | 1.7 | 3.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FastACVNet+Iters.=X, Latency(s)=0.272026.02 | 2.01 | 1.7 | — | — | — | 1.85 | — | — | 1.56 | — | — | — | — | — | — | — | — | |
| CoExTarget=Speed, Time (ms)=272025.12 | 2.02 | 1.74 | 3.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoExIters.=X, Latency(s)=0.172026.02 | 2.02 | 1.74 | — | — | — | 1.86 | — | — | 1.62 | — | — | — | — | — | — | — | — | |
| AANet+Time (ms)=492025.12 | 2.03 | 1.65 | 3.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANetTarget=Speed, Time (ms)=602025.12 | 2.03 | 1.65 | 3.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EdgeStereo2020.08 | 2.08 | 1.84 | 3.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EdgeStereo-V2Run-time=0.32s2020.07 | 2.08 | 1.84 | 3.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNet2020.08 | 2.11 | 1.74 | 3.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GWCNetcheckpoint=provided by authors2024.03 | 2.11 | 1.74 | 3.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GwcNetRuntime [s]=0.322024.03 | 2.11 | 1.74 | 3.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoExTime (ms)=242025.12 | 2.13 | 1.79 | 3.82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-ACVNetTime (ms)=312025.12 | 2.17 | 1.82 | 3.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BGNet+Time (ms)=282025.12 | 2.19 | 1.81 | 4.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BGNet+Target=Speed, Time (ms)=352025.12 | 2.19 | 1.81 | 4.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BGNet+Iters.=X, Latency(s)=0.162026.02 | 2.19 | 1.81 | — | — | — | 2.01 | — | — | 1.66 | — | — | — | — | — | — | — | — | |
| Deeppruneradaptation=none, top methods in the past two years context=true2021.04 | 2.23 | — | — | 2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SegStereo2020.08 | 2.25 | 1.88 | 4.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IINetTarget=Speed, Time (ms)=262025.12 | 2.25 | 2.02 | 3.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IINetIters.=X, Latency(s)=0.292026.02 | 2.25 | 2.02 | — | — | — | 2.07 | — | — | 1.87 | — | — | — | — | — | — | — | — | |
| DSM2020.08 | 2.28 | 1.83 | 4.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CVANetadaptation=none, Robust Vision Challenge 2020 context=true2021.04 | 2.28 | 1.74 | 4.98 | 3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LightStereo(S)Iters.=X, Latency(s)=0.132026.02 | 2.3 | 2 | — | — | — | 2.11 | — | — | 1.83 | — | — | — | — | — | — | — | — | |
| PSMNet2020.08 | 2.32 | 1.86 | 4.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNetcheckpoint=provided by authors2024.03 | 2.32 | 1.86 | 4.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSMNetRuntime [s]=0.412024.03 | 2.32 | 1.86 | 4.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GANetadaptation=none, Robust Vision Challenge 2020 context=true2021.04 | 2.33 | 1.88 | 4.58 | 4 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DecNetTarget=Speed, Time (ms)=502025.12 | 2.37 | 2.07 | 3.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANetIters.=X, Latency(s)=0.482026.02 | 2.55 | 1.99 | — | — | — | 2.32 | — | — | 1.8 | — | — | — | — | — | — | — | — | |
| DeepPruner-FastTime (ms)=432025.12 | 2.59 | 2.32 | 3.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepPrunerFastTarget=Speed, Time (ms)=502025.12 | 2.59 | 2.32 | 3.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CRLRuntime=0.5s2018.07 | 2.67 | 2.48 | 3.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANetadaptation=none, Robust Vision Challenge 2020 context=true2021.04 | 2.67 | 2.23 | 4.89 | 5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iResNetadaptation=none, top methods in the past two years context=true2021.04 | 2.71 | 2.27 | 4.89 | 3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FoundationStereoTraining=strong multi-dataset, Reference Type=paper*2026.06 | 2.8 | — | — | — | — | — | — | 1.67 | — | — | — | — | — | — | — | — | — | |
| MobileStereoNet-2DTime (ms)=412025.12 | 2.83 | 2.49 | 4.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CG-Net FullRuntime=0.9s2018.07 | 2.87 | 2.21 | 6.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GC-Net2020.08 | 2.87 | 2.21 | 6.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GC-NetRun-time=0.9s2020.07 | 2.87 | 2.21 | 6.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GCNetRuntime [s]=0.92024.03 | 2.87 | 2.21 | 6.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StereoFactoryBackbone=FoundationStereo2026.06 | 2.92 | — | — | — | — | — | — | 2.19 | — | — | — | — | — | — | — | — | — | |
| ESMNetRun-time=0.06s2020.07 | 2.95 | 2.57 | 4.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast DS-CSRun-time=0.02s2020.07 | 3.08 | 2.83 | 4.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S2M22025.10 | 3.12 | 2.51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FoundationStereoBackbone=FoundationStereo, Training=strong multi-dataset2026.06 | 3.26 | — | — | — | — | — | — | 2.43 | — | — | — | — | — | — | — | — | — | |
| StereoFactoryBackbone=NMRF-SwinT2026.06 | 3.29 | — | — | — | — | — | — | 3.3 | — | — | — | — | — | — | — | — | — | |
| RTSNetRun-time=0.02s2020.07 | 3.41 | 2.86 | 6.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LBPSRuntime [s]=0.392024.03 | 3.44 | 2.85 | 6.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PBCPRuntime [s]=682024.03 | 3.61 | 2.58 | 8.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — |