A Pixel Dissimilarity Measure That Is Insensitive to Image Sampling
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Real-Time Correlation-Based Stereo Vision with Reduced Border Errors
International Journal of Computer Vision
Real-Time Consensus-Based Scene Reconstruction Using Commodity Graphics Hardware
PG '02 Proceedings of the 10th Pacific Conference on Computer Graphics and Applications
Visual Correspondence Using Energy Minimization and Mutual Information
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Brook for GPUs: stream computing on graphics hardware
ACM SIGGRAPH 2004 Papers
Improved Real-Time Stereo on Commodity Graphics Hardware
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
Near Real-Time Reliable Stereo Matching Using Programmable Graphics Hardware
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Real-Time Connectivity Constrained Depth Map Computation Using Programmable Graphics Hardware
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Real-time stereo vision using semi-global matching on programmable graphics hardware
ACM SIGGRAPH 2006 Sketches
Efficient histogram generation using scattering on GPUs
Proceedings of the 2007 symposium on Interactive 3D graphics and games
How Far Can We Go with Local Optimization in Real-Time Stereo Matching
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
ACM SIGGRAPH 2007 courses
Stereo Processing by Semiglobal Matching and Mutual Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Real-Time Low-Power Stereo Vision Engine Using Semi-Global Matching
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Phase-Correlation Guided Search for Realtime Stereo Vision
IWCIA '09 Proceedings of the 13th International Workshop on Combinatorial Image Analysis
A fast stereo matching algorithm suitable for embedded real-time systems
Computer Vision and Image Understanding
hSGM: hierarchical pyramid based stereo matching algorithm
ACIVS'11 Proceedings of the 13th international conference on Advanced concepts for intelligent vision systems
Improving sub-pixel accuracy for long range stereo
Computer Vision and Image Understanding
Evaluation of a new coarse-to-fine strategy for fast semi-global stereo matching
PSIVT'11 Proceedings of the 5th Pacific Rim conference on Advances in Image and Video Technology - Volume Part I
Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain
International Journal of Robotics Research
Pipelined architecture for real-time cost-optimized extraction of visual primitives based on FPGAs
Digital Signal Processing
Iterative semi-global matching for robust driver assistance systems
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part III
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Real-time stereo matching is necessary for many practical applications, including robotics. There are already many real-time stereo systems, but they typically use local approaches that cause object boundaries to be blurred and small objects to be removed. We have selected the Semi-Global Matching (SGM) method for implementation on graphics hardware, because it can compete with the currently best global stereo methods. At the same time, it is much more efficient than most other methods that produce a similar quality. In contrast to previous work, we have fully implemented SGM including matching with mutual information, which is partly responsible for the high quality of disparity images. Our implementation reaches 4.2 fps on a GeForce 8800 ULTRA with images of 640 ×480 pixel size and 128 pixel disparity range and 13 fps on images of 320 ×240 pixel size and 64 pixel disparity range.