To evaluate SARNet’s generalization, we captured a real-world stereo dataset in Guangzhou using a binocular camera. The dataset includes diverse urban and natural scenes to assess SARNet’s performance beyond synthetic and benchmark datasets. Fig. 7 illustrates SARNet’s predictions on real-world scenes, KITTI 2012, and KITTI 2015. Experimental results demonstrate that SARNet generates clear and consistent disparity maps across both smooth and complex regions, highlighting its robustness in real-world depth estimation tasks.