Due to the high similarity of disparity between consecutive frames in video sequences, the area where disparity changes is defined as the residual map, which can be calculated. Based on this, we propose RecSM, a network based on residual estimation with a flexible recursive structure for video stereo matching. The RecSM network accelerates stereo matching using a Multi-scale Residual Estimation Module (MREM), which employs the temporal context as a reference and rapidly calculates the disparity for the current frame by computing only the residual values between the current and previous frames. To further reduce the error of estimated disparities, we use the Disparity Optimization Module (DOM) and Temporal Attention Module (TAM) to enforce constraints between each module, and together with MREM, form a flexible Stackable Computation Structure (SCS), which allows for the design of different numbers of SCS based on practical scenarios. Experimental results demonstrate that with a stack count of 3, RecSM achieves a 4x speed improvement compared to ACVNet, running at 0.054 seconds based on one NVIDIA RTX 2080TI GPU, with an accuracy decrease of only 0.7%. Code is available at https://github.com/Y0uchenZ/RecSM.

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