Table 2.

Ablation study.

Datasets	NJUD				NLPR				STERE				SIP
Metrics	MAE	FM	SM	EM	MAE	FM	SM	EM	MAE	FM	SM	EM	MAE	FM	SM	EM
①	0.041	0.910	0.899	0.906	0.023	0.920	0.921	0.957	0.035	0.911	0.905	0.925	0.049	0.900	0.879	0.918
②	0.041	0.909	0.901	0.906	0.026	0.91	0.916	0.948	0.039	0.903	0.9	0.915	0.051	0.894	0.878	0.916
③	0.046	0.907	0.895	0.916	0.031	0.903	0.906	0.941	0.073	0.86	0.82	0.869	0.056	0.897	0.869	0.907
④	0.040	0.911	0.901	0.936	0.022	0.922	0.923	0.957	0.035	0.912	0.903	0.937	0.047	0.902	0.883	0.925
Ours	0.039	0.914	0.902	0.936	0.022	0.922	0.924	0.958	0.036	0.914	0.905	0.941	0.046	0.904	0.886	0.926

The ‘ours’ in Table 2 means our proposed method. The ① refers to the experimental results by replacing the structure of FiCaps with U-Nets. The ② means the experimental results, which FiCaps does not integrate with external features. The ③ indicates the experimental results, extracting and integrating the features of depth image by using the VGG backbone. The ④ refers to the experimental results by replacing the GCM with the traditional convolutions.