# OpenStereo: A Comprehensive Benchmark for Stereo Matching and Strong Baseline

arXiv: https://arxiv.org/abs/2312.00343 · HTML: https://mlsanity.com/paper/2312.00343/

## Key facts

- Cited by 30 papers in the map (data through 14 Oct 2026).
- Builds on 56 of its 81 references that are in the map.
- First posted on arXiv 1 Dec 2023.

## Builds on (most cited first, 30 of 56)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [DARTS: Differentiable Architecture Search](https://mlsanity.com/paper/1806.09055/) (2018)
- [MMDetection: Open MMLab Detection Toolbox and Benchmark](https://mlsanity.com/paper/1906.07155/) (2019)
- [Random Erasing Data Augmentation](https://mlsanity.com/paper/1708.04896/) (2017)
- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [EfficientNetV2: Smaller Models and Faster Training](https://mlsanity.com/paper/2104.00298/) (2021)
- [FlowNet: Learning Optical Flow with Convolutional Networks](https://mlsanity.com/paper/1504.06852/) (2015)
- [A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation](https://mlsanity.com/paper/1512.02134/) (2015)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Once-for-All: Train One Network and Specialize it for Efficient Deployment](https://mlsanity.com/paper/1908.09791/) (2019)
- [FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networks](https://mlsanity.com/paper/1612.01925/) (2016)
- [Pyramid Stereo Matching Network](https://mlsanity.com/paper/1803.08669/) (2018)
- [Cascade Cost Volume for High-Resolution Multi-View Stereo and Stereo Matching](https://mlsanity.com/paper/1912.06378/) (2019)
- [AutoML: A Survey of the State-of-the-Art](https://mlsanity.com/paper/1908.00709/) (2019)
- [End-to-End Learning of Geometry and Context for Deep Stereo Regression](https://mlsanity.com/paper/1703.04309/) (2017)
- [RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matching](https://mlsanity.com/paper/2109.07547/) (2021)
- [GA-Net: Guided Aggregation Net for End-to-end Stereo Matching](https://mlsanity.com/paper/1904.06587/) (2019)
- [Group-wise Correlation Stereo Network](https://mlsanity.com/paper/1903.04025/) (2019)
- [AANet: Adaptive Aggregation Network for Efficient Stereo Matching](https://mlsanity.com/paper/2004.09548/) (2020)
- [Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlation](https://mlsanity.com/paper/2203.11483/) (2022)
- [Revisiting Stereo Depth Estimation From a Sequence-to-Sequence Perspective with Transformers](https://mlsanity.com/paper/2011.02910/) (2020)
- [Iterative Geometry Encoding Volume for Stereo Matching](https://mlsanity.com/paper/2303.06615/) (2023)
- [Hierarchical Neural Architecture Search for Deep Stereo Matching](https://mlsanity.com/paper/2010.13501/) (2020)
- [CroCo v2: Improved Cross-view Completion Pre-training for Stereo Matching and Optical Flow](https://mlsanity.com/paper/2211.10408/) (2022)
- [CFNet: Cascade and Fused Cost Volume for Robust Stereo Matching](https://mlsanity.com/paper/2104.04314/) (2021)
- [Stereo Matching by Training a Convolutional Neural Network to Compare Image Patches](https://mlsanity.com/paper/1510.05970/) (2015)

## Built on by (most cited first, 30 of 30)

- [DEFOM-Stereo: Depth Foundation Model Based Stereo Matching](https://mlsanity.com/paper/2501.09466/) (2025)
- [Pixel-Perfect Depth with Semantics-Prompted Diffusion Transformers](https://mlsanity.com/paper/2510.07316/) (2025)
- [SURDS: Benchmarking Spatial Understanding and Reasoning in Driving Scenarios with Vision Language Models](https://mlsanity.com/paper/2411.13112/) (2024)
- [LightStereo: Channel Boost Is All You Need for Efficient 2D Cost Aggregation](https://mlsanity.com/paper/2406.19833/) (2024)
- [Playing to Vision Foundation Model's Strengths in Stereo Matching](https://mlsanity.com/paper/2404.06261/) (2024)
- [BANet: Bilateral Aggregation Network for Mobile Stereo Matching](https://mlsanity.com/paper/2503.03259/) (2025)
- [Instruct Large Language Models to Drive like Humans](https://mlsanity.com/paper/2406.07296/) (2024)
- [ClearDepth: Enhanced Stereo Perception of Transparent Objects for Robotic Manipulation](https://mlsanity.com/paper/2409.08926/) (2024)
- [Stereo Anything: Unifying Zero-shot Stereo Matching with Large-Scale Mixed Data](https://mlsanity.com/paper/2411.14053/) (2024)
- [Lite Any Stereo: Efficient Zero-Shot Stereo Matching](https://mlsanity.com/paper/2511.16555/) (2025)
- [MaskFuser: Masked Fusion of Joint Multi-Modal Tokenization for End-to-End Autonomous Driving](https://mlsanity.com/paper/2405.07573/) (2024)
- [StereoCarla: A High-Fidelity Driving Dataset for Generalizable Stereo](https://mlsanity.com/paper/2509.12683/) (2025)
- [Boosting Zero-shot Stereo Matching using Large-scale Mixed Images Sources in the Real World](https://mlsanity.com/paper/2505.08607/) (2025)
- [Pixel-Perfect Visual Geometry Estimation](https://mlsanity.com/paper/2601.05246/) (2026)
- [Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Camera](https://mlsanity.com/paper/2603.02130/) (2026)
- [VHS: High-Resolution Iterative Stereo Matching with Visual Hull Priors](https://mlsanity.com/paper/2406.02552/) (2024)
- [Iterative Volume Fusion for Asymmetric Stereo Matching](https://mlsanity.com/paper/2508.09543/) (2025)
- [ROVR-Open-Dataset: A Large-Scale Depth Dataset for Autonomous Driving](https://mlsanity.com/paper/2508.13977/) (2025)
- [WideDepth: Millimeter-Accurate Benchmark for Fisheye Depth Estimation](https://mlsanity.com/paper/2605.24074/) (2026)
- [Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI](https://mlsanity.com/paper/2606.22971/) (2026)
- [AquaStereo: Enabling Underwater Stereo Matching via Depth-Conditioned Diffusion and Geometry Self-Distillation](https://mlsanity.com/paper/2607.04303/) (2026)
- [USAM-Net: A U-Net-based Network for Improved Stereo Correspondence and Scene Depth Estimation using Features from a Pre-trained Image Segmentation network](https://mlsanity.com/paper/2503.14950/) (2025)
- [A Reinforcement Learning Method for Environments with Stochastic Variables: Post-Decision Proximal Policy Optimization with Dual Critic Networks](https://mlsanity.com/paper/2504.05150/) (2025)
- [DispBench: Benchmarking Disparity Estimation to Synthetic Corruptions](https://mlsanity.com/paper/2505.05091/) (2025)
- [Pixel-Optimization-Free Patch Attack on Stereo Depth Estimation](https://mlsanity.com/paper/2506.17632/) (2025)
- [Preserving Guidance in Cost-Volume Retrieval under Extreme LiDAR Sparsity in Iterative Stereo](https://mlsanity.com/paper/2507.19738/) (2025)
- [StereoFactory: A Unified Merging Framework for Robust Stereo Matching](https://mlsanity.com/paper/2606.17475/) (2026)
- [Lite Any Stereo V2: Faster and Stronger Efficient Zero-Shot Stereo Matching](https://mlsanity.com/paper/2606.24457/) (2026)
- [TrustVLA: Mechanism-Guided Inference-Time Defense Against Vision-Language-Action Backdoors](https://mlsanity.com/paper/2607.12571/) (2026)
- [GeoStereo: A Unified Stereo Geometry Estimation Framework for Disparity and Surface Normal](https://mlsanity.com/paper/2607.24024/) (2026)

## Abstract (arXiv)

Stereo matching aims to estimate the disparity between matching pixels in a stereo image pair, which is important to robotics, autonomous driving, and other computer vision tasks. Despite the development of numerous impressive methods in recent years, determining the most suitable architecture for practical application remains challenging. Addressing this gap, our paper introduces a comprehensive benchmark focusing on practical applicability rather than solely on individual models for optimized performance. Specifically, we develop a flexible and efficient stereo matching codebase, called OpenStereo. OpenStereo includes training and inference codes of more than 10 network models, making it, to our knowledge, the most complete stereo matching toolbox available. Based on OpenStereo, we conducted experiments and have achieved or surpassed the performance metrics reported in the original paper. Additionally, we conduct an exhaustive analysis and deconstruction of recent developments in stereo matching through comprehensive ablative experiments. These investigations inspired the creation of StereoBase, a strong baseline model. Our StereoBase ranks 1st on SceneFlow, KITTI 2015, 2012 (Reflective) among published methods and achieves the best performance across all metrics. In addition, StereoBase has strong cross-dataset generalization. Code is available at urlhttps://github.com/XiandaGuo/OpenStereo.