# StereoCarla: A High-Fidelity Driving Dataset for Generalizable Stereo

arXiv: https://arxiv.org/abs/2509.12683 · HTML: https://mlsanity.com/paper/2509.12683/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 39 references that are in the map.
- First posted on arXiv 16 Sep 2025.

## Builds on (most cited first, 30 of 32)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [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)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)
- [Pyramid Stereo Matching Network](https://mlsanity.com/paper/1803.08669/) (2018)
- [End-to-End Learning of Geometry and Context for Deep Stereo Regression](https://mlsanity.com/paper/1703.04309/) (2017)
- [Virtual KITTI 2](https://mlsanity.com/paper/2001.10773/) (2020)
- [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)
- [Iterative Geometry Encoding Volume for Stereo Matching](https://mlsanity.com/paper/2303.06615/) (2023)
- [FoundationStereo: Zero-Shot Stereo Matching](https://mlsanity.com/paper/2501.09898/) (2025)
- [Spring: A High-Resolution High-Detail Dataset and Benchmark for Scene Flow, Optical Flow and Stereo](https://mlsanity.com/paper/2303.01943/) (2023)
- [DynamicStereo: Consistent Dynamic Depth from Stereo Videos](https://mlsanity.com/paper/2305.02296/) (2023)
- [Attention Concatenation Volume for Accurate and Efficient Stereo Matching](https://mlsanity.com/paper/2203.02146/) (2022)
- [SMD-Nets: Stereo Mixture Density Networks](https://mlsanity.com/paper/2104.03866/) (2021)
- [Domain-invariant Stereo Matching Networks](https://mlsanity.com/paper/1911.13287/) (2019)
- [CompletionFormer: Depth Completion with Convolutions and Vision Transformers](https://mlsanity.com/paper/2304.13030/) (2023)
- [Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation](https://mlsanity.com/paper/1804.06534/) (2018)
- [MobileStereoNet: Towards Lightweight Deep Networks for Stereo Matching](https://mlsanity.com/paper/2108.09770/) (2021)
- [DiffusionDepth: Diffusion Denoising Approach for Monocular Depth Estimation](https://mlsanity.com/paper/2303.05021/) (2023)
- [IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matching](https://mlsanity.com/paper/2409.00638/) (2024)
- [Neural Markov Random Field for Stereo Matching](https://mlsanity.com/paper/2403.11193/) (2024)
- [FADNet: A Fast and Accurate Network for Disparity Estimation](https://mlsanity.com/paper/2003.10758/) (2020)
- [OpenStereo: A Comprehensive Benchmark for Stereo Matching and Strong Baseline](https://mlsanity.com/paper/2312.00343/) (2023)
- [LightStereo: Channel Boost Is All You Need for Efficient 2D Cost Aggregation](https://mlsanity.com/paper/2406.19833/) (2024)
- [Match-Stereo-Videos: Bidirectional Alignment for Consistent Dynamic Stereo Matching](https://mlsanity.com/paper/2403.10755/) (2024)

## Built on by (most cited first, 3 of 3)

- [Lite Any Stereo: Efficient Zero-Shot Stereo Matching](https://mlsanity.com/paper/2511.16555/) (2025)
- [StereoFactory: A Unified Merging Framework for Robust Stereo Matching](https://mlsanity.com/paper/2606.17475/) (2026)
- [GeoStereo: A Unified Stereo Geometry Estimation Framework for Disparity and Surface Normal](https://mlsanity.com/paper/2607.24024/) (2026)

## Abstract (arXiv)

Stereo matching plays a crucial role in enabling depth perception for autonomous driving and robotics. While recent years have witnessed remarkable progress in stereo matching algorithms, largely driven by learning-based methods and synthetic datasets, the generalization performance of these models remains constrained by the limited diversity of existing training data. To address these challenges, we present StereoCarla, a high-fidelity synthetic stereo dataset specifically designed for autonomous driving scenarios. Built on the CARLA simulator, StereoCarla incorporates a wide range of camera configurations, including diverse baselines, viewpoints, and sensor placements as well as varied environmental conditions such as lighting changes, weather effects, and road geometries. We conduct comprehensive cross-domain experiments across four standard evaluation datasets (KITTI2012, KITTI2015, Middlebury, ETH3D) and demonstrate that models trained on StereoCarla outperform those trained on 11 existing stereo datasets in terms of generalization accuracy across multiple benchmarks. Furthermore, when integrated into multi-dataset training, StereoCarla contributes substantial improvements to generalization accuracy, highlighting its compatibility and scalability. This dataset provides a valuable benchmark for developing and evaluating stereo algorithms under realistic, diverse, and controllable settings, facilitating more robust depth perception systems for autonomous vehicles. Code can be available at https://github.com/XiandaGuo/OpenStereo, and data can be available at https://xiandaguo.net/StereoCarla.