Stereo Matching on Middlebury v3
2.08Bad Pixel Rate (Thresh 2.0)MatchAttentionXL
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||||||||||||||||||||||||
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| MatchAttentionXLTraining Data=Million-scale, FLOPs (G)=5240.2, Latency (NX-16)=1287.8, Latency (AGX-64)=493.1, Latency (4060Ti)=248.8, Params (M)=507.12025.10 | 2.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.36 | 5.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MatchAttentionRTTraining Data=Million-scale, FLOPs (G)=62.5, Latency (NX-16)=79.1, Latency (AGX-64)=36.7, Latency (4060Ti)=9.3, Params (M)=10.922025.10 | 4.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25.12 | 9.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOSS-ROBRun-time=662s (CPU)2020.07 | 5.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 12.2 | 2.08 | 38.2 | 13.2 | 3.46 | 42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LocalExpRun-time=881s (CPU)2020.07 | 5.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.4 | 2.24 | 38.7 | 13.9 | 3.69 | 43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CRLERun-time=1589s (CPU)2020.07 | 5.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.6 | 2.25 | 38.1 | 13.4 | 3.9 | 42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HITNetRun-time=0.14 s2020.07 | 6.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.97 | 1.71 | 34.2 | 13.3 | 3.81 | 40 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DEFOM-Stereo_RVCEvaluation protocol=Recent RVC Model2025.01 | 6.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEAStereoRun-time=2.9 s2020.07 | 7.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.11 | 1.43 | 49.5 | 20.8 | 2.75 | 53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-FSD-416Training Data=Million-scale, Max Disparity=416, FLOPs (G)=1811.6, Latency (NX-16)=1315.0, Latency (AGX-64)=497.7, Latency (4060Ti)=421.0, Params (M)=17.652025.10 | 7.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25.3 | 11.97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Monster++-416Training Data=Million-scale, Max Disparity=416, FLOPs (G)=10843.0, Latency (NX-16)=3581.7, Latency (AGX-64)=1493.6, Latency (4060Ti)=567.1, Params (M)=388.72025.10 | 7.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 31.56 | 14.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MC-CNNRun-time=150 s2020.07 | 8.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.3 | 3.82 | 40.7 | 17.1 | 4.91 | 45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Zero-RAFT-StereoTraining Data=Million-scale, FLOPs (G)=6384.5, Latency (NX-16)=1007.6, Latency (AGX-64)=389.2, Latency (4060Ti)=216.1, Params (M)=11.122025.10 | 8.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 28.17 | 13.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LoS_RVCEvaluation protocol=Recent RVC Model2025.01 | 9.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CREStereo++_RVCEvaluation protocol=Robust Vision Challenge 20222025.01 | 9.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HSMRun-time=0.51 s2020.07 | 10.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.3 | 2.07 | 50.7 | 24.6 | 4.83 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MatchAttentionRTTraining Data=Scene Flow, FLOPs (G)=62.5, Latency (NX-16)=79.1, Latency (AGX-64)=36.7, Latency (4060Ti)=9.3, Params (M)=10.922025.10 | 11.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.64 | 19.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iRaftStereo_RVCEvaluation protocol=Robust Vision Challenge 20222025.01 | 13.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-Monster++-416Training Data=Million-scale, Max Disparity=416, FLOPs (G)=579.1, Latency (NX-16)=295.0, Latency (AGX-64)=121.2, Latency (4060Ti)=44.8, Params (M)=42.822025.10 | 13.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.49 | 22.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFNet_RVCEvaluation protocol=Robust Vision Challenge 20202025.01 | 16.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NLCA_NET_v2_RVCEvaluation protocol=Robust Vision Challenge 20202025.01 | 16.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UCFNet_RVCEvaluation protocol=Recent RVC Model2025.01 | 16.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-IGEV-416Training Data=Scene Flow, Max Disparity=416, FLOPs (G)=573.9, Latency (NX-16)=927.1, Latency (AGX-64)=335.4, Latency (4060Ti)=117.1, Params (M)=4.172025.10 | 18.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 41 | 25.63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EdgeStereoRun-time=0.35 s2020.07 | 18.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.84 | 2.67 | 55.6 | 32.4 | 10.8 | 72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-FSD-192Training Data=Million-scale, Max Disparity=192, FLOPs (G)=1145.0, Latency (NX-16)=777.5, Latency (AGX-64)=299.1, Latency (4060Ti)=222.2, Params (M)=17.652025.10 | 24.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.82 | 30.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-Monster++-192Training Data=Million-scale, Max Disparity=192, FLOPs (G)=578.9, Latency (NX-16)=294.8, Latency (AGX-64)=118.2, Latency (4060Ti)=44.8, Params (M)=42.822025.10 | 26.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.04 | 34.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DN-CSS_ROBEvaluation protocol=Robust Vision Challenge 20182025.01 | 28.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiteAnyStereoTraining Data=Million-scale, FLOPs (G)=61.1, Latency (NX-16)=133.7, Latency (AGX-64)=60.9, Latency (4060Ti)=16.6, Params (M)=7.602025.10 | 30.77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 58.39 | 40.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iResNet_ROBEvaluation protocol=Robust Vision Challenge 20182025.01 | 31.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-IGEV-192Training Data=Scene Flow, Max Disparity=192, FLOPs (G)=549.0, Latency (NX-16)=346.7, Latency (AGX-64)=143.3, Latency (4060Ti)=50.4, Params (M)=4.172025.10 | 32.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.94 | 38.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiteAnyStereoTraining Data=Scene Flow, FLOPs (G)=61.1, Latency (NX-16)=133.7, Latency (AGX-64)=60.9, Latency (4060Ti)=16.6, Params (M)=7.602025.10 | 35.77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.16 | 47.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IINetTraining Data=Scene Flow, FLOPs (G)=185.4, Latency (NX-16)=101.5, Latency (AGX-64)=44.5, Latency (4060Ti)=13.7, Params (M)=19.562025.10 | 36.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.04 | 46.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BANet-3D-416Training Data=Scene Flow, Max Disparity=416, FLOPs (G)=171.4, Latency (NX-16)=248.7, Latency (AGX-64)=108.5, Latency (4060Ti)=71.5, Params (M)=3.632025.10 | 48.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.37 | 62.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LightStereo-LTraining Data=Scene Flow, FLOPs (G)=168.4, Latency (NX-16)=154.3, Latency (AGX-64)=71.1, Latency (4060Ti)=20.4, Params (M)=24.292025.10 | 51.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79.09 | 64.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BANet-3D-192Training Data=Scene Flow, Max Disparity=192, FLOPs (G)=116.0, Latency (NX-16)=150.1, Latency (AGX-64)=66.8, Latency (4060Ti)=35.4, Params (M)=3.632025.10 | 58.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.31 | 70.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BANet-2DTraining Data=Scene Flow, FLOPs (G)=65.1, Latency (NX-16)=76.6, Latency (AGX-64)=47.8, Latency (4060Ti)=8.0, Params (M)=5.462025.10 | 58.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.87 | 72.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AANetResolution=half resolution2021.04 | — | 4.56 | 4.17 | 11 | 25.2 | 19.6 | 8.88 | 26.2 | 24.2 | 131 | 31.8 | 25.8 | 12.8 | 32.8 | 41.4 | 142 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AIO-StereoZero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 24 | 16.6 | 14.7 | 10.6 | 13 | 59.8 | 38.5 | 36.5 | 35.2 | 7.92 | 24.8 | 22.4 | 13.7 | 32.2 | 29.4 | 13.6 | 6.08 | 4.54 | 3.16 | 5.98 | 2.76 | 16.2 | 3.52 | 7.97 | 7.67 | 2.29 | 10.4 | 10.7 | 4.64 | 8.39 | 5.34 | 6.76 | |
| Decomposition ModelResolution=full resolution2021.04 | — | 0.51 | 0.1 | 0.23 | 20.2 | 11.2 | 3.72 | 12.5 | 10.1 | 46.8 | 27 | 17 | 5.37 | 15.9 | 15 | 72.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepPrunerResolution=quadratic resolution2021.04 | — | 0.13 | 0.41 | 4.38 | 30.1 | 15.9 | 4.8 | 14.7 | 10.4 | 67.7 | 36.4 | 21.9 | 6.56 | 18 | 17.9 | 83.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DEFOM-StereoZero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25.2 | 11.6 | 21.4 | 9.65 | 17.8 | 55 | 37.3 | 34.6 | 34.1 | 12.1 | 24.6 | 27 | 11.6 | 32.9 | 38 | 13.7 | 5.81 | 4.57 | 3.92 | 4.79 | 3.35 | 14.3 | 3.04 | 5.67 | 5.5 | 2.41 | 7.54 | 15.3 | 3.98 | 11.3 | 5.71 | 4.22 | |
| FoundationStereoZero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.5 | 11.1 | 10.7 | 8.66 | 17.9 | 61.5 | 36.2 | 21.3 | 20.7 | 7.82 | 16.9 | 18.2 | 12.1 | 50.7 | 36.6 | 10.5 | 4.39 | 4.23 | 2.74 | 3.13 | 2.1 | 11.4 | 1.57 | 2.83 | 2.86 | 1.84 | 6.34 | 6.97 | 5.3 | 11.7 | 4.75 | 3.13 | |
| GANetResolution=half resolution2021.04 | — | 8.53 | 6.33 | 16.4 | 18.9 | 11.2 | 12.2 | 35.4 | 40 | 84.5 | 24.9 | 16.3 | 15.8 | 42 | 50.9 | 194 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MatchAttentionXLZero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.3 | 15.8 | 7.79 | 8.61 | 10.1 | 55.3 | 37.2 | 16.5 | 18 | 5.89 | 9.76 | 13.9 | 8.17 | 48.9 | 47.7 | 19.3 | 3.49 | 3.2 | 2.47 | 2.43 | 1.61 | 6.2 | 1.91 | 2.43 | 2.21 | 1.33 | 2.6 | 4.58 | 1.87 | 12.3 | 4.7 | 4.26 | |
| MGS-StereoZero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 23.4 | 17 | 15.7 | 9.43 | 16.4 | 52.1 | 38.4 | 32.6 | 32.7 | 12.4 | 24 | 24.5 | 13.2 | 29.6 | 26.8 | 11.8 | 5.69 | 4.89 | 3.14 | 4.85 | 3.28 | 16.3 | 3.54 | 5.83 | 5.72 | 1.83 | 6.04 | 11.1 | 4.26 | 12.1 | 5.27 | 4.17 | |
| PSMNetResolution=quadratic resolution2021.04 | — | 0.64 | 2.62 | 32.2 | 42.1 | 23.5 | 6.68 | 19.4 | 17 | 84.5 | 47.2 | 29.2 | 8.78 | 23.3 | 22.8 | 106 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S2M2Zero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.1 | 23.4 | 17.2 | 8.28 | 18.6 | 45 | 45.2 | 27 | 26.1 | 13.7 | 19.4 | 20.1 | 13 | 30 | 21.4 | 3.92 | 3.57 | 2.81 | 2.33 | 3.5 | 2.33 | 3.18 | 2.07 | 2.58 | 2.75 | 1.97 | 4.12 | 9.24 | 4.44 | 9.36 | 3.18 | 0.87 | |
| Selective-IGEVZero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 24.6 | 15.2 | 14.6 | 10.3 | 14.2 | 61.5 | 38.7 | 36.8 | 35.6 | 9.93 | 29 | 25.3 | 12.2 | 35.6 | 25.6 | 17.6 | 6.53 | 4.68 | 3.16 | 5.32 | 3.86 | 17 | 3.6 | 8.84 | 8.12 | 2.74 | 11.5 | 10.7 | 5.12 | 9.05 | 5.86 | 8 | |
| StereoAnywhereZero-shot=true, Resolution=Full resolution, Mask=Noc mask2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 27.3 | 27.2 | 7.88 | 12.1 | 17.4 | 58.4 | 45 | 37 | 32.3 | 8.72 | 28.4 | 30 | 13.4 | 50 | 35.3 | 20.3 | 7.99 | 13 | 3.49 | 5.4 | 7.96 | 28.2 | 3.51 | 8.7 | 6.2 | 2.37 | 12.1 | 13.1 | 5.83 | 15 | 5.6 | 5.16 |