Abstract
Several leading methods on public benchmarks for depth-from-stereo rely on memory-demanding 4D cost volumes and computationally intensive 3D convolutions for feature matching. We suggest a new way to process the 4D cost volume where we merge two different concepts in one deeply integrated framework to achieve a symbiotic relationship. A feature matching part is responsible for identifying matching pixels pairs along the baseline while a concurrent image volume part is inspired by depth-from-mono CNNs. However, instead of predicting depth directly from image features, it provides additional context to resolve ambiguities during pixel matching. More technically, the processing of the 4D cost volume is separated into a 2D propagation and a 3D propagation part. Starting from feature maps of the left image, the 2D propagation assists the 3D propagation part of the cost volume at different layers by adding visual features to the geometric context. By combining both parts, we can safely reduc