Camera Calibration with Distortion Models and Accuracy Evaluation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-time stereopsis using FPGAs
FPL '97 Proceedings of the 7th International Workshop on Field-Programmable Logic and Applications
A Stereo Machine for Video-Rate Dense Depth Mapping and Its New Applications
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Real-time stereo vision on the PARTS reconfigurable computer
FCCM '97 Proceedings of the 5th IEEE Symposium on FPGA-Based Custom Computing Machines
A PC-based real-time stereo vision system
Machine Graphics & Vision International Journal
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We have developed a miniature stereo vision machine (MSVM-2) to generate high-resolution dense depth map for application to portable intelligent robots and smart visual interface. The machine uses multiple cameras, each with a very wide field of view, to synchronously capture stereo image sequences, and then computes dense depth maps in real time. The whole algorithm, including radial distortion correction, LoG filtering, correspondence finding, and dense depth map computation, is compactly implemented in a single FPGA. The machine also has an IEEE 1394 port for video-rate data transferring to PCs and a parallel data interface port to other user-systems. The machine could achieve more than 30 frame-per-second processing rate for 640_ 480 dense depth map with a 64-pixel disparity search range and 8-bit depth precision, and up to 50 frame-per-second for a 320_ 240 depth map.