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To improve the accuracy of stereo matching, the multi-scale dense attention network (MDA-Net) is proposed. The network introduces two novel modules in the feature extraction stage to achieve better exploit of context information: dual-path upsampling (DU) block and attention-guided context-aware pyramid feature extraction (ACPFE) block. The DU block is introduced to fuse different scale feature maps. It introduces sub-pixel convolution to compensate for the loss of information caused by the traditional interpolation upsampling method. The ACPFE block is proposed to extract multi-scale context information. Pyramid atrous convolution is adopted to exploit multi-scale features and the channel-attention is used to fuse the multi-scale features. The proposed network has been evaluated on several benchmark datasets. The three-pixel-error evaluated over all ground truth pixels is 2.10% on KITTI 2015 dataset. The experiment results prove that MDA-Net achieves state-of-the-art accuracy on KITTI 2012 and 2015 datasets.

Multi-Scale Dense Attention Network for Stereo Matching