FADNet++: Real-Time and Accurate Disparity Estimation with Configurable Networks

Abstract

Deep neural networks (DNNs) have achieved great success in the area of computer vision. The disparity estimation problem tends to be addressed by DNNs which achieve much better prediction accuracy than traditional hand-crafted feature based methods. However, the existing DNNs hardly serve both efficient computation and rich expression capability, which makes them difficult for deployment in real-time and highquality applications, especially on mobile devices. To this end, we propose an efficient, accurate, and configurable deep network for disparity estimation named FADNet++. Leveraging several liberal network design and training techniques, FADNet++ can boost its accuracy with a fast model inference speed for realtime applications. Besides, it enables users to easily configure different sizes of models for balancing accuracy and inference efficiency. We conduct extensive experiments to demonstrate the effectiveness of FADNet++ on both synthetic and realistic datasets among six GPU devices varying from server to mobile platforms. Experimental results show that FADNet++ and its variants achieve state-of-the-art prediction accuracy, and run at a significant order of magnitude faster speed than existing 3D models. With the constraint of running at above 15 frames per second (FPS) on a mobile GPU, FADNet++ achieves a new stateof-the-art result for the SceneFlow dataset.