Architecture and implementation of real-time stereo vision with bilateral background subtraction

Authors:
Sang-Kyo Han;Mun-Ho Jeong;SeongHoon Woo;Bum-Jae You
Affiliations:
Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea;Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea;Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea;Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea
Venue:
ICIC'07 Proceedings of the intelligent computing 3rd international conference on Advanced intelligent computing theories and applications
Year:
2007

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Abstract

We describe the architecture and implementation of bilateral background subtraction for real-time stereo vision system. Pre-smoothing a signal and noise removal may help to improve the performance for many signal-processing algorithms such as compression, detection, enhancement, recognition, and more [2]. Bilateral filtering proposed by C. Tomasi and R. Manduchi can be used as an edge-preserving smoother, removing high-frequency components of an image without blurring its edges [1][3]. Recently, [3] showed enhanced real-time stereo through software implementation of bilateral filtering. In this paper, we show hardware implementation of bilateral background subtraction for real-time stereo and present its architecture as well as required hardware resources. Also, we provide experimental results with real data and present our future works.