Statistics

Deep learning

Algorithm

Mathematical analysis

Net (polyhedron)

Pattern recognition (psychology)

Artificial intelligence

Economics

Matching (statistics)

Organic chemistry

Computational complexity theory

Chemistry

Management

Differentiable function

Geometry

Block (permutation group theory)

Layer (electronics)

Task (project management)

Mathematics

Computer science

Artificial neural network

End-to-end principle

Convolutional neural network

In the stereo matching task, matching cost aggregation is crucial in both traditional methods and deep neural network models in order to accurately estimate disparities. We propose two novel neural net layers, aimed at capturing local and the whole-image cost dependencies respectively. The first is a semi-global aggregation layer which is a differentiable approximation of the semi-global matching, the second is the local guided aggregation layer which follows a traditional cost filtering strategy to refine thin structures. These two layers can be used to replace the widely used 3D convolutional layer which is computationally costly and memory-consuming as it has cubic computational/memory complexity. In the experiments, we show that nets with a two-layer guided aggregation block easily outperform the state-of-the-art GC-Net which has nineteen 3D convolutional layers. We also train a deep guided aggregation network (GA-Net) which gets better accuracies than state-of-the-art methods on both Scene Flow dataset and KITTI benchmarks.

GA-Net: Guided Aggregation Net for End-To-End Stereo Matching