Stereo matching estimates the disparity between a rectified image pair, which is of great importance to depth sensing, autonomous driving, and other related tasks. Previous works built cost volumes with cross-correlation or concatenation of left and right features across all disparity levels, and then a 2D or 3D convolutional neural network is utilized to regress the disparity maps. In this paper, we propose to construct the cost volume by group-wise correlation. The left features and the right features are divided into groups along the channel dimension, and correlation maps are computed among each group to obtain multiple matching cost proposals, which are then packed into a cost volume. Group-wise correlation provides efficient representations for measuring feature similarities and will not lose too much information like full correlation. It also preserves better performance when reducing parameters compared with previous methods. The 3D stacked hourglass network proposed in previous works is improved to boost the performance and decrease the inference computational cost. Experiment results show that our method outperforms previous methods on Scene Flow, KITTI 2012, and KITTI 2015 datasets. The code is available at https: //github.com/xy-guo/GwcNet
REF ) propose a group-wise correlation to measure feature similarities, which will not lose too much information like full correlation but reduce the memory consumption and network parameters.
Group-Wise Correlation Stereo Network
2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Computer Science