Overall comparison of algorithms with sub-pixel estimation using a single view
The table below is the current, off-line version of Figure 3 of our paper. It compares the performance of different stereo algorithms on four test
image pairs, including all the algorithms reported to the Middlebury website. The numbers represent the percentage of "bad" pixels, i.e., pixel whose
absolute disparity error is greater than [0.50 | 0.75 | 1.00 | 1.50 |2.00], the error threshold can be changed by clicking on the tabs at the end of
the table. For each image pair, we report percentages for (1) non-occluded pixels, (2) all pixels and (3) pixels near depth. All the scoring and ranking
schemes are the same as the Middlebury benchmark.
All algorithms are run with constant parameter settings across all four images. The rank of each algorithm in each column is indicated with a small red number.
The algorithms are listed roughly in decreasing order of overall performance (as measured by average rank).
The difference between this benchmark and the Middlebury one is that we provide sub-pixel estimation for all the algorithms reported to the Middlebury website
by using only a single view (the reference view) or two views. The lines with the blue highlighting are the experimental results with our sub-pixel estimations.
This sub-pixel benchmark proves that the sub-pixel estimation algorithm proposed is very robust; it works for all the algorithms.
Algorithms	Avg.			Tsukuba						Venus						Teddy						Cones
	Rank	nonocc		all		disc		nonocc		all		disc		nonocc		all		disc		nonocc		all		disc
AdaptingBP	12.58	19.06	27	19.34	24	17.35	13	4.84	18	5.08	15	7.84	3	12.76	10	16.67	4	26.31	9	7.02	10	13.15	11	13.99	7
AdaptingBP(subpixel)	9.17	17.41	20	17.73	20	17.01	11	4.46	13	4.71	10	7.38	2	12.74	9	16.52	3	25.77	7	6.04	7	12.08	4	13.35	4
AdaptWeight	25.58	18.1	24	18.8	22	18.59	21	7.77	26	8.4	27	15.83	20	17.57	25	23.93	25	34.03	31	14	32	19.67	28	20.63	26
AdaptWeight(subpixel)	14.92	16.12	19	16.55	19	17.1	12	4.34	12	4.91	12	12.62	12	14.29	16	20.8	15	30.82	17	9.3	19	15.11	16	16.42	10
CostRelax	21.58	26.25	48	27.33	48	33.46	44	2.92	4	4.06	7	20.8	31	12.28	8	20.24	13	32.4	25	6.33	8	13.09	9	16.72	14
CostRelax(subpixel)	21.17	24.03	41	25.05	42	31.6	43	2.82	2	3.92	5	20.67	29	12.94	11	20.86	16	33.08	27	7	9	13.67	12	17.7	17
C-SemiGlob	7.75	13.92	17	14.71	16	18.88	25	3.3	6	3.82	4	10.95	10	9.82	1	17.43	5	22.76	2	5.37	3	11.69	2	12.77	2
C-SemiGlob(subpixel)	5.25	12.16	11	12.82	12	16.27	9	2.9	3	3.38	2	9.47	7	10.32	3	17.9	7	22.93	3	5.55	4	11.51	1	12.45	1
DoubleBP	18.42	18.66	25	19.11	23	15.76	5	7.82	27	8.22	25	11.32	11	14.4	17	19.88	11	24.35	6	11.77	26	17.65	22	19.67	23
DoubleBP(subpixel)	11.33	17.69	21	18.08	21	16.04	8	4.46	14	4.8	11	8.25	5	11.9	7	17.49	6	23.9	5	8.08	14	14.1	13	16.49	11
DP	42.17	19.58	30	20.59	28	22.84	38	23.49	50	24.3	49	32.85	45	30.04	47	36.28	45	36.09	36	22.04	47	29.64	47	33.75	44
DP(subpixel)	31.17	14.17	18	15.14	17	18.68	23	13.42	43	14.4	43	28.15	43	21.09	31	28.18	33	31.65	20	14.12	33	22.46	33	26.36	37
GC	32.42	7.71	5	9.82	5	17.4	14	13.48	44	14.96	45	20.91	32	31.45	48	38.52	48	38.88	41	15.95	35	25.54	40	24.68	32
GC(subpixel)	29.25	7.93	7	9.97	6	17.98	16	10.01	33	11.53	35	18.6	26	29.98	46	37.22	47	38.38	40	13.27	31	23.13	34	23.07	30
GC+occ	24	6.1	1	7.11	1	14.55	2	10.71	36	11.33	34	16.91	22	23.68	37	30.09	37	34.56	33	12.25	29	19.2	27	21.9	29
GC+occ(subpixel)	19.08	6.63	3	7.53	2	14.39	1	7.75	25	8.39	26	14.34	15	21.43	32	28.14	32	33.69	29	9.83	20	16.97	20	19.75	24
GenModel	20.25	7.89	6	10.01	7	18.52	19	4.59	16	6.03	18	23.48	40	14.76	20	22.75	22	31.75	22	10.2	21	20.2	31	19.03	21
GenModel(subpixel)	17.58	9.21	8	11.31	8	19.97	28	3.59	9	4.99	14	22.25	37	14.17	15	22.11	20	30.64	16	9.09	17	19.02	26	16.51	13
Infection	43.42	22.13	39	23.49	40	37.63	48	11.13	38	12.33	38	37.32	48	24.34	40	31.71	40	56.37	50	20.16	45	27.8	45	48.17	50
Infection(subpixel)	38.08	19.27	28	20.65	29	37.4	46	7.84	28	9.06	28	33.65	46	22.2	36	29.81	36	53.32	49	17.93	41	25.72	41	44.4	49
Layered	32.25	12.95	14	13.51	14	18.67	22	15.6	47	16.33	46	21.78	35	22.16	34	27.83	31	35.38	34	16.91	38	24.53	38	25.83	34
Layered(subpixel)	25	11.82	10	12.32	10	19.23	26	9.87	32	10.65	32	20.73	30	16.88	24	23.17	24	31.78	23	12.15	28	20.13	30	23.1	31
MultiCamGC	27	6.56	2	7.55	3	15.68	4	16.4	48	16.83	48	17.57	25	24.33	39	30.43	38	36.94	38	12.04	27	18.76	25	21.15	27
MultiCamGC(subpixel)	23.08	6.98	4	7.86	4	15.43	3	13.87	45	14.39	42	16.61	21	22.17	35	28.51	34	35.74	35	9.12	18	16.06	17	18.65	19
RealtimeBP	31.42	19.94	33	21.62	36	22.16	35	8.68	30	9.93	31	20.12	28	19.24	26	24.83	27	33.82	30	14.22	34	21.25	32	25.9	35
RealtimeBP(subpixel)	21.92	19.45	29	21.04	31	21.69	33	4.72	17	6	17	15.6	18	16.33	22	22.12	21	31.32	19	9.01	16	16.44	18	19.27	22
RealTimeGPU	36.58	24.21	42	26.02	45	24.94	42	10.95	37	12.12	37	27.58	42	19.62	28	27.01	29	33	26	16.55	37	23.75	35	29.52	39
RealTimeGPU(subpixel)	24.67	20.24	34	22.05	38	21.7	34	5.71	19	6.89	21	21.6	33	14.03	14	22.05	19	27.63	11	10.23	22	18.04	23	21.33	28
RegionTreeDP	29.75	20.95	37	21.12	32	18.33	17	9.08	31	9.74	30	13.79	14	19.72	30	24.76	26	32.12	24	19.74	44	24.76	39	25.36	33
RegionTreeDP(subpixel)	18.17	19.78	32	19.88	27	18.37	18	3.42	8	3.97	6	8.26	6	14.52	18	20.17	12	28.59	12	13.01	30	18.53	24	19.84	25
ReliabilityDP	37.5	18.99	26	20.73	30	17.54	15	12.72	40	13.96	40	26.13	41	26.32	42	32.49	42	36.76	37	23.69	48	29.89	48	31.48	41
ReliabilityDP(subpixel)	29.5	17.9	23	19.61	25	16.68	10	6.62	23	7.96	24	21.89	36	21.83	33	28.55	35	34.12	32	17.6	40	24.43	37	26.07	36
Segm+visib	14.67	12.69	13	12.93	13	15.81	6	10.4	34	11.01	33	19.49	27	10.96	4	13.2	2	23.7	4	8.12	15	13.11	10	17.29	15
Segm+visib(subpixel)	11.17	12.46	12	12.71	11	15.82	7	6.99	24	7.75	23	17.45	23	10.3	2	12.9	1	22.42	1	7.44	12	12.5	6	16.49	12
SegTreeDP	26.33	25.42	46	25.96	44	24.6	41	6.23	21	6.59	20	10.79	9	19.71	29	25.87	28	30.86	18	10.86	23	16.48	19	17.73	18
SegTreeDP(subpixel)	17.42	24.31	43	24.78	41	23.02	39	3.2	5	3.51	3	8	4	16.6	23	23.12	23	29.35	14	5.97	6	11.77	3	13.44	5
SemiGlob	12	13.42	15	14.3	15	20.35	29	4.55	15	5.38	16	15.7	19	10.96	5	18.48	8	26.07	8	4.93	1	12.54	7	13.51	6
SemiGlob(subpixel)	9.83	10.6	9	11.4	9	18.87	24	4.19	11	4.94	13	14.43	16	11.64	6	19.14	10	26.54	10	5.11	2	12.09	5	13.29	3
SO	43.42	17.85	22	19.81	26	23.37	40	23.14	49	24.44	50	34.59	47	36.3	50	42.87	50	41.41	42	23.71	50	32.4	50	34.42	45
SO(subpixel)	36.75	13.47	16	15.47	18	20.87	30	13.39	42	14.84	44	29.11	44	28.37	44	35.8	44	37.8	39	17.12	39	26.56	43	28.71	38
SSD+MF	45.17	28.53	50	29.99	50	38.06	49	12.83	41	14.2	41	23.41	39	28.16	43	35.42	43	48.65	47	21.08	46	29.42	46	38.61	47
SSD+MF(subpixel)	41.75	26.35	49	27.83	49	37.61	47	7.9	29	9.28	29	22.74	38	24.52	41	32.13	41	46.96	46	18.02	42	26.58	44	37.85	46
STICA	44	24.33	44	26.1	46	44.76	50	15.24	46	16.55	47	46.35	50	23.97	38	31.28	39	50.41	48	15.95	36	23.75	36	39.5	48
STICA(subpixel)	35.58	19.61	31	21.43	34	37.15	45	10.7	35	12.1	36	40.24	49	19.45	27	27.31	30	44.85	43	11.7	25	19.77	29	32.34	43
SymBP+occ	22.42	20.74	36	21.57	35	19.51	27	5.96	20	6.27	19	10.19	8	15.66	21	20.92	17	31.71	21	11.4	24	17.54	21	18.94	20
SymBP+occ(subpixel)	14.92	20.55	35	21.16	33	18.59	20	4.1	10	4.36	9	7.35	1	13.2	13	18.63	9	29.09	13	7.92	13	14.3	14	16.05	9
TensorVoting	22.08	25.46	47	26.19	47	21.23	32	3.32	7	4.12	8	14.58	17	14.61	19	21.78	18	33.26	28	7.05	11	14.46	15	17.37	16
TensorVoting(subpixel)	16.33	24.47	45	25.14	43	21.12	31	1.52	1	2.3	1	12.84	13	13.11	12	20.41	14	30.5	15	5.58	5	12.96	8	14.87	8
TreeDP	42.5	22.42	40	23.05	39	22.33	36	12.08	39	12.92	39	21.72	34	32.39	49	38.95	49	45.59	45	23.7	49	30.77	49	31.74	42
TreeDP(subpixel)	36.67	21.22	38	21.86	37	22.62	37	6.23	22	7.1	22	17.52	24	29.57	45	36.43	46	44.89	44	18.68	43	26.34	42	30.08	40