# Rectified Iterative Disparity for Stereo Matching

arXiv: https://arxiv.org/abs/2406.10943 · HTML: https://mlsanity.com/paper/2406.10943/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 26 of its 37 references that are in the map.
- First posted on arXiv 16 Jun 2024.

## Builds on (most cited first, 26 of 26)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translation](https://mlsanity.com/paper/1406.1078/) (2014)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation](https://mlsanity.com/paper/1512.02134/) (2015)
- [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)
- [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)
- [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)
- [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)
- [Attention Concatenation Volume for Accurate and Efficient Stereo Matching](https://mlsanity.com/paper/2203.02146/) (2022)
- [DeepPruner: Learning Efficient Stereo Matching via Differentiable PatchMatch](https://mlsanity.com/paper/1909.05845/) (2019)
- [Domain-invariant Stereo Matching Networks](https://mlsanity.com/paper/1911.13287/) (2019)
- [SegStereo: Exploiting Semantic Information for Disparity Estimation](https://mlsanity.com/paper/1807.11699/) (2018)
- [Adaptive Unimodal Cost Volume Filtering for Deep Stereo Matching](https://mlsanity.com/paper/1909.03751/) (2019)
- [Multiview Stereo with Cascaded Epipolar RAFT](https://mlsanity.com/paper/2205.04502/) (2022)
- [Bilateral Grid Learning for Stereo Matching Networks](https://mlsanity.com/paper/2101.01601/) (2021)
- [PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matching](https://mlsanity.com/paper/2103.07094/) (2021)
- [Learning the Distribution of Errors in Stereo Matching for Joint Disparity and Uncertainty Estimation](https://mlsanity.com/paper/2304.00152/) (2023)
- [Digging Into Uncertainty-based Pseudo-label for Robust Stereo Matching](https://mlsanity.com/paper/2307.16509/) (2023)
- [Improved Stereo Matching with Constant Highway Networks and Reflective Confidence Learning](https://mlsanity.com/paper/1701.00165/) (2016)
- [SR-Stereo & DAPE: Stepwise Regression and Pre-trained Edges for Practical Stereo Matching](https://mlsanity.com/paper/2406.06953/) (2024)

## Abstract (arXiv)

Both uncertainty-assisted and iteration-based methods have achieved great success in stereo matching. However, existing uncertainty estimation methods take a single image and the corresponding disparity as input, which imposes higher demands on the estimation network. In this paper, we propose Cost volume-based disparity Uncertainty Estimation (UEC). Based on the rich similarity information in the cost volume coming from the image pairs, the proposed UEC can achieve competitive performance with low computational cost. Secondly, we propose two methods of uncertainty-assisted disparity estimation, Uncertainty-based Disparity Rectification (UDR) and Uncertainty-based Disparity update Conditioning (UDC). These two methods optimise the disparity update process of the iterative-based approach without adding extra parameters. In addition, we propose Disparity Rectification loss that significantly improves the accuracy of small amount of disparity updates. We present a high-performance stereo architecture, DR Stereo, which is a combination of the proposed methods. Experimental results from SceneFlow, KITTI, Middlebury 2014, and ETH3D show that DR-Stereo achieves very competitive disparity estimation performance.