Stereo Matching Method Based on Gated Recurrent Unit Networks

Operation	Layer setting	Output size
input		1/4H×1/4W×64
GRU_1	K=3×3,C=32	1/4H×1/4W×32
GRU_2	K=3×3,C=32	1/4H×1/4W×32
Conv_1	K=3×3,C=48,S=2	1/8H×1/8W×48
Conv_2	K=3×3,C=64,S=2	1/16H×1/16W×64
GRU_3	K=3×3,C=64	1/16H×1/16W×64
Deconv_1	K=4×4,C=48,S=2	1/8H×1/8W×48
add(Conv_1)	K=3×3,C=48,S=1	1/8H×1/8W×48
Deconv_2	K=4×4,C=32,S=2	1/4H×1/4W×32
add(Conv_2)	K=3×3,C=32,S=1	1/4H×1/4W×32
Conv_3	K=3×3,C=8,S=1	1/4H×1/4W×8
Conv_4	K=3×3,C=1,S=1	1/4H×1/4W×1

Table 2. Comparison of different cost aggregation modules
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Table 2. Comparison of different cost aggregation modules
Module E_ep /pixel R₁ /% R₃ /%
Stacked GRU 1.7 16.29 7.79
Proposed method 1.2 12.01 4.99

Table 3. Performance evaluation of different methods on Scene Flow test dataset
View table
Table 3. Performance evaluation of different methods on Scene Flow test dataset
Method E_ep /pixel Memory /GB t_run /ms
DispNetC^[3] 1.68 1.62 18.7
PSMNet^[7] 1.09 4.65 399.3
GANet^[8] 0.84 6.65 2251.1
Proposed method 1.22 2.57 326.8

Table 4. Evaluation of different method on KITTI2015 test dataset

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Table 4. Evaluation of different method on KITTI2015 test dataset

Method	All			Noc
Method	E_D1-bg /%	E_D1-fg /%	E_D1-all /%	E_D1-bg /%	E_D1-fg /%	E_D1-all /%
DispNetC^[3]	4.32	4.41	4.34	4.11	3.72	4.05
MADNet^[18]	3.75	9.20	4.66	3.45	8.41	4.27
CRL^[4]	2.48	3.59	2.67	2.32	3.12	2.45
FADNet^[5]	2.68	3.50	2.82	2.49	3.07	2.59
GC-Net^[6]	2.21	6.16	2.87	2.02	5.58	2.61
PSMNet^[7]	1.86	4.62	2.32	1.71	4.31	2.14
Proposed method	2.20	4.85	2.64	1.82	4.09	2.20

Table 5. Evaluation of different methods on KITTI2012 test dataset unit: %

View table

Table 5. Evaluation of different methods on KITTI2012 test dataset unit: %

Method	>2 pixel		>3 pixel		>4 pixel		>5 pixel		Avg.error
Method	Noc	All	Noc	All	Noc	All	Noc	All	Noc	All
DispNetC	7.38	8.11	4.11	4.65	2.77	3.20	2.05	2.39	0.9	1.0
FADNet	3.98	4.63	2.42	2.86	1.73	2.06	1.34	1.62	0.6	0.7
GC-Net	2.71	3.46	1.77	2.30	1.36	1.77	1.12	1.46	0.6	0.7
PSMNet	2.44	3.01	1.49	1.89	1.12	1.42	0.90	1.15	0.5	0.6
GANet	1.89	2.50	1.19	1.60	0.91	1.23	0.76	1.02	0.4	0.5
Proposed method	2.39	3.03	1.48	1.91	1.10	1.43	0.87	1.14	0.5	0.5

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Hongzhi Du, Teng Zhang, Yanbiao Sun, Linghui Yang, Jigui Zhu. Stereo Matching Method Based on Gated Recurrent Unit Networks[J]. Laser & Optoelectronics Progress, 2021, 58(14): 1415001

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