Overall comparison of algorithms with sub-pixel estimation using two views
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	2.25	1.11	3	1.37	2	5.79	3	0.1	1	0.21	1	1.44	1	4.22	4	7.06	3	11.79	4	2.48	1	7.92	3	7.32	1
AdaptingBP(subpixel)	6.25	1.51	15	1.94	10	7.25	14	0.12	2	0.23	2	1.61	3	4.02	3	7.12	4	11.4	3	2.95	6	8.35	4	8.58	9
AdaptWeight	14.42	1.38	11	1.85	8	6.9	11	0.71	15	1.19	16	6.13	16	7.88	21	13.29	17	18.64	24	3.97	15	9.79	13	8.26	6
AdaptWeight(subpixel)	15.08	1.8	21	2.41	18	8.04	18	0.62	13	1.07	15	5.79	15	7.45	19	13.02	15	18.37	20	3.72	12	9.64	11	8.11	4
CostRelax	30	4.76	41	6.08	41	20.32	43	1.41	30	2.48	32	18.53	41	8.18	22	15.94	27	23.8	35	3.91	14	10.17	14	11.84	20
CostRelax(subpixel)	31.75	5.29	44	6.68	42	21.18	44	1.32	26	2.36	30	17.29	39	8.28	23	16.1	28	24.03	37	4.55	20	10.81	18	13.19	30
C-SemiGlob	12.42	2.61	33	3.29	24	9.89	28	0.25	10	0.57	9	3.24	11	5.14	6	11.79	10	12.96	6	2.77	2	8.35	5	8.2	5
C-SemiGlob(subpixel)	11.42	1.79	20	2.49	19	8.32	21	0.26	11	0.58	11	3.54	13	5.39	8	11.45	9	14.15	8	2.91	4	8.56	6	8.49	7
DoubleBP	3.42	0.88	1	1.29	1	4.76	1	0.13	4	0.45	6	1.87	5	3.53	2	8.3	5	9.63	1	2.9	3	8.78	10	7.79	2
DoubleBP(subpixel)	4.58	1.24	5	1.76	6	5.98	4	0.12	3	0.46	7	1.74	4	3.45	1	8.38	6	10.01	2	2.93	5	8.73	9	7.91	3
DP	41.08	4.12	39	5.04	39	11.95	35	10.1	50	11.03	50	21.03	45	14	38	21.58	38	20.56	32	10.54	43	19.1	42	21.1	42
DP(subpixel)	40.42	4.57	40	5.56	40	13.34	41	8.19	47	9.17	47	19.5	42	13.61	37	21.24	37	20.22	30	10.08	42	18.67	41	20.47	41
GC	35.17	1.94	25	4.12	32	9.39	25	1.79	36	3.44	39	8.75	25	16.47	45	25.03	47	24.93	39	7.7	36	18.15	39	15.27	34
GC(subpixel)	34.17	2.23	29	4.41	34	9.8	27	1.33	27	3	36	9.02	28	15.15	41	23.85	44	24.24	38	7.35	35	17.85	38	15.06	33
GC+occ	23.58	1.19	4	2.01	12	6.24	5	1.64	33	2.19	28	6.75	19	11.18	35	17.4	34	19.77	29	5.36	28	12.45	28	12.97	28
GC+occ(subpixel)	23.25	1.32	8	2.18	14	6.38	7	1.41	29	1.97	26	6.97	22	10.46	33	16.91	31	19.51	26	5.28	27	12.41	27	13.01	29
GenModel	29.58	2.57	32	4.74	36	13.03	39	1.72	35	3.08	37	16.93	38	6.86	14	14.99	24	19.21	25	4.64	23	14.89	34	11.38	18
GenModel(subpixel)	31.08	2.74	36	4.99	38	13.36	42	1.7	34	2.96	34	16.41	37	7.4	17	15.46	26	20.23	31	4.61	22	14.8	33	12.15	23
Infection	47.92	7.95	49	9.54	47	28.88	49	4.41	44	5.53	44	31.67	48	17.7	48	25.09	48	44.41	50	14.34	50	21.33	48	38.04	50
Infection(subpixel)	46.83	8.15	50	9.73	49	28.96	50	3.68	42	4.79	41	30.94	47	16.94	47	23.31	42	42.78	49	13.84	49	20.46	47	37.17	49
Layered	23.33	1.57	17	1.87	9	8.28	20	1.34	28	1.85	21	6.85	21	8.64	24	14.31	21	18.54	22	6.59	34	14.71	32	14.39	31
Layered(subpixel)	22.33	1.92	24	2.25	16	9.52	26	0.71	16	1.23	17	6.35	17	7.8	20	13.58	19	17.61	17	6.53	33	14.61	31	14.72	32
MultiCamGC	24.67	1.27	6	1.99	11	6.48	8	2.79	40	3.13	38	3.6	14	11.99	36	17.63	36	21.99	34	4.89	26	11.83	25	12.09	22
MultiCamGC(subpixel)	23.58	1.45	13	2.2	15	6.79	9	1.89	37	2.25	29	3.35	12	11.14	34	17.04	32	21.33	33	4.74	24	11.68	24	12.04	21
RealtimeBP	20.92	1.49	14	3.4	27	7.87	17	0.77	18	1.9	24	9	27	8.72	25	13.24	16	17.17	13	4.61	21	11.64	23	12.44	26
RealtimeBP(subpixel)	21.83	1.75	19	3.67	29	8.08	19	0.72	17	1.86	22	9.06	29	8.84	27	13.33	18	18	19	4.41	18	11.44	20	12.25	25
RealTimeGPU	29.92	2.05	27	4.22	33	10.64	32	1.92	38	2.98	35	20.27	43	7.23	15	14.38	22	17.57	16	6.41	32	13.7	30	16.46	36
RealTimeGPU(subpixel)	29	2.45	31	4.73	35	12.02	36	1.48	32	2.54	33	18.2	40	6.65	13	14.13	20	17.17	14	6.12	30	13.24	29	16.23	35
RegionTreeDP	13.83	1.39	12	1.64	4	6.85	10	0.22	9	0.57	10	1.93	6	7.42	18	11.91	11	16.75	10	6.31	31	11.9	26	11.84	19
RegionTreeDP(subpixel)	14.42	1.7	18	2.07	13	7.52	16	0.13	5	0.49	8	1.58	2	7.27	16	11.97	12	17.81	18	5.54	29	11.2	19	11.1	17
ReliabilityDP	32.33	1.36	10	3.39	26	7.25	15	2.35	39	3.48	40	12.22	36	9.82	31	16.87	30	19.54	28	12.88	47	19.94	46	19.71	40
ReliabilityDP(subpixel)	30.58	1.84	22	3.95	30	8.43	23	1.24	24	2.37	31	8.92	26	8.74	26	16.16	29	19.52	27	12.53	46	19.59	44	19.52	39
Segm+visib	9.75	1.3	7	1.57	3	6.92	12	0.79	19	1.06	14	6.76	20	5	5	6.54	1	12.33	5	3.72	11	8.62	7	10.23	13
Segm+visib(subpixel)	11	1.53	16	1.84	7	7.16	13	0.65	14	0.9	13	6.5	18	5.28	7	6.9	2	13.47	7	3.76	13	8.66	8	10.28	14
SegTreeDP	17.33	2.21	28	2.76	20	10.32	30	0.46	12	0.6	12	2.44	10	9.58	29	15.17	25	18.43	21	3.23	9	7.86	2	8.83	10
SegTreeDP(subpixel)	16.92	2.67	35	3.34	25	10.99	33	0.18	8	0.33	4	2.2	8	9.16	28	14.99	23	18.57	23	3.06	7	7.46	1	8.54	8
SemiGlob	20	3.26	37	3.96	31	12.75	38	1	21	1.57	19	11.27	32	6.02	9	12.19	13	16.32	9	3.06	8	9.75	12	8.9	11
SemiGlob(subpixel)	20.17	2.65	34	3.42	28	11.39	34	0.93	20	1.48	18	11.18	31	6.37	11	12.78	14	17.47	15	3.47	10	10.22	15	10.04	12
SO	46	5.08	42	7.22	44	12.18	37	9.44	49	10.94	49	21.92	46	19.95	50	28.17	50	26.26	43	13.01	48	22.85	50	22.25	44
SO(subpixel)	45.42	6.19	46	8.34	46	13.19	40	7.61	46	9.15	46	20.6	44	19	49	27.32	49	25.54	42	12.44	45	22.34	49	21.71	43
SSD+MF	43.75	5.23	43	7.07	43	24.14	45	3.74	43	5.16	43	11.89	35	16.53	46	24.85	46	32.91	46	10.6	44	19.82	45	26.26	46
SSD+MF(subpixel)	42.5	6.09	45	8.01	45	25.26	46	3.5	41	4.9	42	11.46	33	15.44	42	23.84	43	31.71	45	9.83	40	19.16	43	24.79	45
STICA	45.33	7.7	47	9.63	48	27.83	47	8.19	48	9.58	48	40.3	50	15.83	43	23.22	41	37.74	48	9.81	39	17.8	37	28.7	48
STICA(subpixel)	44.08	7.85	48	9.86	50	28.2	48	5.83	45	7.22	45	35.15	49	14.4	39	22.25	39	34.96	47	9.07	37	17.13	35	26.67	47
SymBP+occ	9.42	0.97	2	1.75	5	5.09	2	0.16	6	0.33	3	2.19	7	6.47	12	10.72	7	17.03	11	4.79	25	10.72	17	10.88	16
SymBP+occ(subpixel)	11.08	1.33	9	2.31	17	6.28	6	0.17	7	0.36	5	2.33	9	6.11	10	10.74	8	17.11	12	4.47	19	10.43	16	10.61	15
TensorVoting	28.25	3.79	38	4.79	37	8.86	24	1.23	23	1.88	23	11.53	34	9.76	30	17.05	33	24.03	36	4.38	16	11.44	21	12.23	24
TensorVoting(subpixel)	26	1.9	23	2.98	22	8.32	22	1.04	22	1.69	20	10.92	30	10.1	32	17.46	35	25.31	40	4.39	17	11.52	22	12.56	27
TreeDP	34.17	1.99	26	2.84	21	9.96	29	1.41	31	2.1	27	7.74	24	15.92	44	23.9	45	27.09	44	10.05	41	18.35	40	18.92	38
TreeDP(subpixel)	32.42	2.26	30	3.11	23	10.42	31	1.24	25	1.96	25	7.71	23	14.47	40	22.62	40	25.53	41	9.25	38	17.58	36	18.26	37