Adaptive Kernel Convolutional Stereo Matching Recurrent Network

Abstract

For binocular stereo matching techniques, the most advanced method currently is using an iterative structure based on GRUs. Methods in this class have shown high performance on both high-resolution images and standard benchmarks. However, simply replacing cost aggregation with a GRU iterative method leads to the original cost volume for disparity calculation lacking non-local geometric and contextual information. Based on this, this paper proposes a new GRU iteration-based adaptive kernel convolution deep recurrent network architecture for stereo matching. This paper proposes a kernel convolution-based adaptive multi-scale pyramid pooling (KAP) module that fully considers the spatial correlation between pixels and adds new matching attention (MAR) to refine the matching cost volume before inputting it into the iterative network for iterative updates, enhancing the pixel-level representation ability of the image and improving the overall generalization ability of the network. At present, the AKC-Stereo network proposed in this paper has a higher improvement than the basic network. On the Sceneflow dataset, the EPE of AKC-Stereo reaches 0.45, which is 0.02 higher than the basic network. On the KITTI 2015 dataset, the AKC-Stereo network outperforms the base network by 5.6% on the D1-all metric.

Keywords

• stereo matching
• GRU
• adaptive
• matching attention