A maximum likelihood stereo algorithm
Computer Vision and Image Understanding
Introduction to Algorithms
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Generating Parallel Programs from the Wavefront Design Pattern
IPDPS '02 Proceedings of the 16th International Parallel and Distributed Processing Symposium
Advances in Computational Stereo
IEEE Transactions on Pattern Analysis and Machine Intelligence
Comparison of Graph Cuts with Belief Propagation for Stereo, using Identical MRF Parameters
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
SBCCI '04 Proceedings of the 17th symposium on Integrated circuits and system design
A Miniature Stereo Vision Machine (MSVM-III) for Dense Disparity Mapping
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 1 - Volume 01
Tyzx DeepSea High Speed Stereo Vision System
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
A Real-Time Large Disparity Range Stereo-System using FPGAs
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
Reconfigurable hardware implementation of a phase-correlation stereoalgorithm
Machine Vision and Applications
A Comparison and Evaluation of Multi-View Stereo Reconstruction Algorithms
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Real-time 3D face acquisition using reconfigurable hybrid architecture
Journal on Image and Video Processing
A Performance Study on Different Cost Aggregation Approaches Used in Real-Time Stereo Matching
International Journal of Computer Vision
Low-Cost Stereo Vision on an FPGA
FCCM '07 Proceedings of the 15th Annual IEEE Symposium on Field-Programmable Custom Computing Machines
VoC: a reconfigurable matrix for stereo vision processing
IPDPS'06 Proceedings of the 20th international conference on Parallel and distributed processing
High-accuracy stereo depth maps using structured light
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
A novel stereo matching method for wide disparity range detection
ICIAR'05 Proceedings of the Second international conference on Image Analysis and Recognition
Real-time stereo vision on a reconfigurable system
SAMOS'05 Proceedings of the 5th international conference on Embedded Computer Systems: architectures, Modeling, and Simulation
A survey of motion-parallax-based 3-D reconstruction algorithms
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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Dynamic programming is a powerful method for solving energy minimisation problems in computer vision, for example stereo disparity computations. While it may be desirable to implement this algorithm in hardware to achieve frame-rate processing, a nai@?ve implementation may fail to meet timing requirements. In this paper, the structure of the cost matrix is examined to provide improved methods of hardware implementation. It is noted that by computing cost matrix entries along anti-diagonals instead of rows, the cost matrix entries can be computed in a pipelined architecture. Further, if only a subset of the cost matrix needs to be considered, for example by placing limits on the disparity range (include neglecting negative disparities by assuming rectified images), the resources required to compute the cost matrix in parallel can be reduced. Boundary conditions required to allow computing a subset of the cost matrix are detailed. Finally, a hardware solution of Cox's maximum-likelihood, dynamic programming stereo disparity algorithm is implemented to demonstrate the performance achieved. The design provides high frame rate (123fps) estimates for a large disparity range (e.g. 128 pixels), for image sizes of 640x480 pixels, and can be simply extended to work well over 200fps.