PSCVStereo is a lightweight end-to-end neural stereo matching model inspired by RAFT-Stereo, IGEV-Stereo and CREStereo, optimized for deployment on Ambarella CVflow hardware (CV7, CV72, and N1-655). It estimates pixel-wise disparity from left and right camera images for depth perception on robotics and autonomous mobile robots (AMRs).

• Technical: Uses a lightweight correlation cost volume and iterative refinement, with CVflow-aware optimizations and sparsification.
• Applications: Depth estimation, obstacle detection, and navigation for edge robotics and AMRs.
• Output: Disparity map and confidence mask for confidence-aware depth perception.

Related works: RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matching Iterative Geometry Encoding Volume for Stereo Matching (IGEV-Stereo) Practical Stereo Matching via Cascaded Recurrent Network (CREStereo) Reference implementation: RAFT-Stereo GitHub repository IGEV-Stereo GitHub repository CREStereo GitHub repository

PSCVStereo-base

This model is the higher-capacity model. It uses a full-width feature backbone and a richer correlation volume, refined with more coarse-to-fine updates over a wider disparity range. It is trained on 512×896, so it is the choice when accuracy on larger images matters most.

Model Configuration:

• Implementation: PSCVStereo
• Resolution: 3x512x896
• Support Cooper version:
  • Cooper SDK: [3.0.0]
  • Cooper Foundry: [2.3]

Model	Device	compression	Model Link
PSCVStereo-base	N1-655	Amba_optimized	Model_Link
PSCVStereo-base	CV7	Amba_optimized	Model_Link
PSCVStereo-base	CV72	Amba_optimized	Model_Link

PSCVStereo-tiny

This model is a more compact variant. It uses a narrower backbone and a slimmer correlation volume, with fewer iterative updates. It is trained on 416×576, so it is the choice when lower compute cost and faster inference are the priority.

Model Configuration:

• Implementation: PSCVStereo
• Resolution: 3x416x576
• Support Cooper version:
  • Cooper SDK: [3.0.0]
  • Cooper Foundry: [2.3]

Model	Device	compression	Model Link
PSCVStereo-tiny	N1-655	Amba_optimized	Model_Link
PSCVStereo-tiny	CV7	Amba_optimized	Model_Link
PSCVStereo-tiny	CV72	Amba_optimized	Model_Link