# Stereo Matching on KITTI Stereo 2012 (val)

Source: [Stereo Matching on KITTI Stereo 2012 (val)](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-31T10:31:07.552Z

Evaluation of Stereo Matching performance on the validation split of the KITTI Stereo 2012 dataset, reporting Endpoint Error (EPE) metrics using WTA and SGMLOC weighting schemes.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Stereo Matching |
| Dataset (including any stated split) | KITTI Stereo 2012 (val) |
| Metric | EPE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 24 of 24 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [EPE](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val.md?metric=EPE>): Lower is better; unit: SCALAR.

- [EPE (WTA)](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val.md?metric=EPE%20(WTA)>): Lower is better; unit: SCALAR.

- [Bad Pixel Rate (WTA)](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val.md?metric=Bad%20Pixel%20Rate%20(WTA)>): Lower is better; unit: PERCENT.

- [EPE (SGMLOC)](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val.md?metric=EPE%20(SGMLOC)>): Lower is better; unit: SCALAR.

- [Bad Pixel Rate (SGMLOC)](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val.md?metric=Bad%20Pixel%20Rate%20(SGMLOC)>): Lower is better; unit: PERCENT.

- [Bad Pixel Rate (1-Pixel Threshold)](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val.md?metric=Bad%20Pixel%20Rate%20(1-Pixel%20Threshold)>): Lower is better; unit: PERCENT.

- [LR Consistency Keep Rate](<https://www.sota2.com/research/sota/stereo-matching-on-kitti-stereo-2012-val.md?metric=LR%20Consistency%20Keep%20Rate>): Higher is better; unit: SCALAR.

## Recorded results

| Method | EPE | Result date | Report paper |
| --- | --- | --- | --- |
| OURS | 4.57 | Not recorded | 69cb55340636e5bf4afca07c |
| OURS | 4.62 | Not recorded | 69cb55340636e5bf4afca07c |
| CroCo-v2 (RoPE) | 5.7 | Not recorded | 69cb55340636e5bf4afca07c |
| CroCo-v2 (RoPE) | 5.93 | Not recorded | 69cb55340636e5bf4afca07c |
| iBOT-style | 7.55 | Not recorded | 69cb55340636e5bf4afca07c |
| iBOT-style | 7.63 | Not recorded | 69cb55340636e5bf4afca07c |
| DINOv3-style | 7.98 | Not recorded | 69cb55340636e5bf4afca07c |
| DINOv3-style | 8.01 | Not recorded | 69cb55340636e5bf4afca07c |
| DINOv2-style | 8.39 | Not recorded | 69cb55340636e5bf4afca07c |
| DINOv2-style | 8.44 | Not recorded | 69cb55340636e5bf4afca07c |
| OURS | 9.74 | Not recorded | 69cb55340636e5bf4afca07c |
| CroCo-v1 (sincos) | 10.22 | Not recorded | 69cb55340636e5bf4afca07c |
| CroCo-v1 (sincos) | 10.25 | Not recorded | 69cb55340636e5bf4afca07c |
| CroCo-v2 (RoPE) | 14.32 | Not recorded | 69cb55340636e5bf4afca07c |
| CroCo-v1 (sincos) | 14.76 | Not recorded | 69cb55340636e5bf4afca07c |
| DINOv3-style | 19.53 | Not recorded | 69cb55340636e5bf4afca07c |
| iBOT-style | 28.78 | Not recorded | 69cb55340636e5bf4afca07c |
| DINOv2-style | 34.07 | Not recorded | 69cb55340636e5bf4afca07c |

### OURS

EPE: 4.57. Result ID: 69cba1d547f34ce924b48e27.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT+LR","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### OURS

EPE: 4.62. Result ID: 69cba1d547f34ce924b48e26.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### CroCo-v2 (RoPE)

EPE: 5.7. Result ID: 69cba1d547f34ce924b48e2d.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70541e209131cea4a451.md>)

[Implementation](<https://github.com/naver/croco>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT+LR","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### CroCo-v2 (RoPE)

EPE: 5.93. Result ID: 69cba1d547f34ce924b48e2c.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70541e209131cea4a451.md>)

[Implementation](<https://github.com/naver/croco>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### iBOT-style

EPE: 7.55. Result ID: 69cba1d547f34ce924b48e30.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6bb51e209131cea2fbe0.md>)

[Implementation](<https://github.com/bytedance/ibot>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT+LR","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### iBOT-style

EPE: 7.63. Result ID: 69cba1d547f34ce924b48e2f.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6bb51e209131cea2fbe0.md>)

[Implementation](<https://github.com/bytedance/ibot>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### DINOv3-style

EPE: 7.98. Result ID: 69cba1d547f34ce924b48e36.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a931e209131cea83fc5.md>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT+LR","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### DINOv3-style

EPE: 8.01. Result ID: 69cba1d547f34ce924b48e35.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a931e209131cea83fc5.md>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### DINOv2-style

EPE: 8.39. Result ID: 69cba1d547f34ce924b48e33.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72181e209131cea546c3.md>)

[Implementation](<https://github.com/facebookresearch/dinov2>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT+LR","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### DINOv2-style

EPE: 8.44. Result ID: 69cba1d547f34ce924b48e32.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72181e209131cea546c3.md>)

[Implementation](<https://github.com/facebookresearch/dinov2>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### OURS

EPE: 9.74. Result ID: 69cba1d547f34ce924b48e25.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

Recorded evaluation configuration: {"Matching algorithm":"WTA","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### CroCo-v1 (sincos)

EPE: 10.22. Result ID: 69cba1d547f34ce924b48e2a.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e591e209131cea3f3ea.md>)

[Implementation](<https://europe.naverlabs.com/research/computer-vision/croco/>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT+LR","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### CroCo-v1 (sincos)

EPE: 10.25. Result ID: 69cba1d547f34ce924b48e29.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e591e209131cea3f3ea.md>)

[Implementation](<https://europe.naverlabs.com/research/computer-vision/croco/>)

Recorded evaluation configuration: {"Matching algorithm":"SGMLOC","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### CroCo-v2 (RoPE)

EPE: 14.32. Result ID: 69cba1d547f34ce924b48e2b.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70541e209131cea4a451.md>)

[Implementation](<https://github.com/naver/croco>)

Recorded evaluation configuration: {"Matching algorithm":"WTA","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### CroCo-v1 (sincos)

EPE: 14.76. Result ID: 69cba1d547f34ce924b48e28.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e591e209131cea3f3ea.md>)

[Implementation](<https://europe.naverlabs.com/research/computer-vision/croco/>)

Recorded evaluation configuration: {"Matching algorithm":"WTA","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### DINOv3-style

EPE: 19.53. Result ID: 69cba1d547f34ce924b48e34.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a931e209131cea83fc5.md>)

Recorded evaluation configuration: {"Matching algorithm":"WTA","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### iBOT-style

EPE: 28.78. Result ID: 69cba1d547f34ce924b48e2e.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6bb51e209131cea2fbe0.md>)

[Implementation](<https://github.com/bytedance/ibot>)

Recorded evaluation configuration: {"Matching algorithm":"WTA","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

### DINOv2-style

EPE: 34.07. Result ID: 69cba1d547f34ce924b48e31.

[Reporting paper](<https://www.sota2.com/research/paper/69cb55340636e5bf4afca07c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72181e209131cea546c3.md>)

[Implementation](<https://github.com/facebookresearch/dinov2>)

Recorded evaluation configuration: {"Matching algorithm":"WTA","Evaluation subset":"GT-only","Evaluation protocol":"strict frozen no-linkage descriptor probe"}. This record does not assert independent reproduction.

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