Depth Discontinuities by Pixel-to-Pixel Stereo
International Journal of Computer Vision
A compact algorithm for rectification of stereo pairs
Machine Vision and Applications
Fast Approximate Energy Minimization via Graph Cuts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Systems: Design Principles for Distributed Embedded Applications
Real-Time Systems: Design Principles for Distributed Embedded Applications
Using Real-Time Stereo Vision for Mobile Robot Navigation
Autonomous Robots
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
Non-parametric Local Transforms for Computing Visual Correspondence
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
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
Scene Classification from Dense Disparity Maps in Indoor Environments
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 3 - Volume 3
Stereo Matching Using Belief Propagation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Improvements in Real-Time Correlation-Based Stereo Vision
SMBV '01 Proceedings of the IEEE Workshop on Stereo and Multi-Baseline Vision (SMBV'01)
Individuating unknown objects by combining motion and stereo
Individuating unknown objects by combining motion and stereo
Advances in Computational Stereo
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Stereo by using Dynamic Programming
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
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
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
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
Stereo Correspondence by Dynamic Programming on a Tree
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
ROS-DMA: A DMA Double Buffering Method for Embedded Image Processing with Resource Optimized Slicing
RTAS '06 Proceedings of the 12th IEEE Real-Time and Embedded Technology and Applications Symposium
High-Quality Real-Time Stereo Using Adaptive Cost Aggregation and Dynamic Programming
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
High level languages for GPUs overview
ACM SIGGRAPH 2007 courses
A Performance Study on Different Cost Aggregation Approaches Used in Real-Time Stereo Matching
International Journal of Computer Vision
Pfelib: a performance primitives library for embedded vision
EURASIP Journal on Embedded Systems
Efficient Stereo Vision for Obstacle Detection and AGV Navigation
ICIAP '07 Proceedings of the 14th International Conference on Image Analysis and Processing
An Optimized Software-Based Implementation of a Census-Based Stereo Matching Algorithm
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Mutual Information Based Semi-Global Stereo Matching on the GPU
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Real-Time Stereo Vision: Making More Out of Dynamic Programming
CAIP '09 Proceedings of the 13th International Conference on Computer Analysis of Images and Patterns
Accurate Real-Time Disparity Estimation with Variational Methods
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
High-accuracy stereo depth maps using structured light
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Fast variable window for stereo correspondence using integral images
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Stereo by Intra- and Inter-Scanline Search Using Dynamic Programming
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distributed real-time stereo matching on smart cameras
Proceedings of the Fourth ACM/IEEE International Conference on Distributed Smart Cameras
A correlation-based approach for real-time stereo matching
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part II
Real-time high-definition stereo matching on FPGA
Proceedings of the 19th ACM/SIGDA international symposium on Field programmable gate arrays
Real-time stereo on GPGPU using progressive multi-resolution adaptive windows
Image and Vision Computing
Stereo matching using weighted dynamic programming on a single-direction four-connected tree
Computer Vision and Image Understanding
Adaptive Census Transform: A novel hardware-oriented stereovision algorithm
Computer Vision and Image Understanding
Accurate 3D-vision-based obstacle detection for an autonomous train
Computers in Industry
Evaluation of stereo correspondence algorithms and their implementation on FPGA
Journal of Systems Architecture: the EUROMICRO Journal
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In this paper, the challenge of fast stereo matching for embedded systems is tackled. Limited resources, e.g. memory and processing power, and most importantly real-time capability on embedded systems for robotic applications, do not permit the use of most sophisticated stereo matching approaches. The strengths and weaknesses of different matching approaches have been analyzed and a well-suited solution has been found in a Census-based stereo matching algorithm. The novelty of the algorithm used is the explicit adaption and optimization of the well-known Census transform in respect to embedded real-time systems in software. The most important change in comparison with the classic Census transform is the usage of a sparse Census mask which halves the processing time with nearly unchanged matching quality. This is due the fact that large sparse Census masks perform better than small dense masks with the same processing effort. The evidence of this assumption is given by the results of experiments with different mask sizes. Another contribution of this work is the presentation of a complete stereo matching system with its correlation-based core algorithm, the detailed analysis and evaluation of the results, and the optimized high speed realization on different embedded and PC platforms. The algorithm handles difficult areas for stereo matching, such as areas with low texture, very well in comparison to state-of-the-art real-time methods. It can successfully eliminate false positives to provide reliable 3D data. The system is robust, easy to parameterize and offers high flexibility. It also achieves high performance on several, including resource-limited, systems without losing the good quality of stereo matching. A detailed performance analysis of the algorithm is given for optimized reference implementations on various commercial of the shelf (COTS) platforms, e.g. a PC, a DSP and a GPU, reaching a frame rate of up to 75 fps for 640x480 images and 50 disparities. The matching quality and processing time is compared to other algorithms on the Middlebury stereo evaluation website reaching a middle quality and top performance rank. Additional evaluation is done by comparing the results with a very fast and well-known sum of absolute differences algorithm using several Middlebury datasets and real-world scenarios.