Ensemble Learning for Confidence Measures in Stereo Vision

Ralf Haeusler, Rahul Nair, Daniel Kondermann; Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2013, pp. 305-312

With the aim to improve accuracy of stereo confidence measures, we apply the random decision forest framework to a large set of diverse stereo confidence measures. Learning and testing sets were drawn from the recently introduced KITTI dataset, which currently poses higher challenges to stereo solvers than other benchmarks with ground truth for stereo evaluation. We experiment with semi global matching stereo (SGM) and a census dataterm, which is the best performing realtime capable stereo method known to date. On KITTI images, SGM still produces a significant amount of error. We obtain consistently improved area under curve values of sparsification measures in comparison to best performing single stereo confidence measures where numbers of stereo errors are large. More specifically, our method performs best in all but one out of 194 frames of the KITTI dataset.