Attention-Aware Feature Aggregation for Real-Time Stereo Matching on Edge Devices

Jia Ren Chang, Pei Chun Chang, Yong Sheng Chen*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Recent works have demonstrated superior results for depth estimation from a stereo pair of images using convolutional neural networks. However, these methods require large amounts of computational resources and are not suited to real-time applications on edge devices. In this work, we propose a novel method for real-time stereo matching on edge devices, which consists of an efficient backbone for feature extraction, an attention-aware feature aggregation, and a cascaded 3D CNN architecture for multi-scale disparity estimation. The efficient backbone is designed to generate multi-scale feature maps with constrained computational power. The multi-scale feature maps are further adaptively aggregated via the proposed attention-aware feature aggregation module to improve representational capacity of features. Multi-scale cost volumes are constructed using aggregated feature maps and regularized using a cascaded 3D CNN architecture to estimate disparity maps in anytime settings. The network infers a disparity map at low resolution and then progressively refines the disparity maps at higher resolutions by calculating the disparity residuals. Because of the efficient extraction and aggregation of informative features, the proposed method can achieve accurate depth estimation in real-time inference. Experimental results demonstrated that the proposed method processed stereo image pairs with resolution 1242 × 375 at 12–33 fps on an NVIDIA Jetson TX2 module and achieved competitive accuracy in depth estimation. The code is available at

Original languageEnglish
Title of host publicationComputer Vision – ACCV 2020 - 15th Asian Conference on Computer Vision, 2020, Revised Selected Papers
EditorsHiroshi Ishikawa, Cheng-Lin Liu, Tomas Pajdla, Jianbo Shi
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages16
ISBN (Print)9783030695248
StatePublished - Feb 2021
Event15th Asian Conference on Computer Vision, ACCV 2020 - Virtual, Online
Duration: 30 Nov 20204 Dec 2020

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12622 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference15th Asian Conference on Computer Vision, ACCV 2020
CityVirtual, Online


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