Stereo Confidence Estimation via Locally Adaptive Fusion and Knowledge Distillation

Abstract

Stereo confidence estimation aims to estimate the reliability of the estimated disparity by stereo matching. Different from the previous methods that exploit the limited input modality, we present a novel method that estimates confidence map of an initial disparity by making full use of tri-modal input, including matching cost, disparity, and color image through deep networks. The proposed network, termed as Locally Adaptive Fusion Networks (LAF-Net), learns locally-varying attention and scale maps to fuse the tri-modal confidence features. Moreover, we propose a knowledge distillation framework to learn more compact confidence estimation networks as student networks. By transferring the knowledge from LAF-Net as teacher networks, the student networks that solely take as input a disparity can achieve comparable performance. To transfer more informative knowledge, we also propose a module to learn the locally-varying temperature in a softmax function. We further extend this framework to a multiview scenario. Experimental results show that LAF-Net and its variations outperform the state-of-the-art stereo confidence methods on various benchmarks.