Integration of visual modules: an extension of the Marr paradigm
Integration of visual modules: an extension of the Marr paradigm
Computation of component image velocity from local phase information
International Journal of Computer Vision
International Journal of Computer Vision
Computer architecture (2nd ed.): design and performance
Computer architecture (2nd ed.): design and performance
Validity of the single processor approach to achieving large scale computing capabilities
Readings in computer architecture
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Signal Processing for Computer Vision
Signal Processing for Computer Vision
On the consistency of instantaneous rigid motion estimation
International Journal of Computer Vision
Distortion Invariant Object Recognition in the Dynamic Link Architecture
IEEE Transactions on Computers
Pattern Recognition Letters
Early Cognitive Vision: Using Gestalt-Laws for Task-Dependent, Active Image-Processing
Natural Computing: an international journal
Matched Filter Computation on FPGA, Cell and GPU
FCCM '07 Proceedings of the 15th Annual IEEE Symposium on Field-Programmable Custom Computing Machines
A Real-Time Embedded System for Stereo Vision Preprocessing Using an FPGA
RECONFIG '08 Proceedings of the 2008 International Conference on Reconfigurable Computing and FPGAs
A Hybrid FPGA/Coarse Parallel Processing Architecture for Multi-modal Visual Feature Descriptors
RECONFIG '08 Proceedings of the 2008 International Conference on Reconfigurable Computing and FPGAs
Continuous dimensionality characterization of image structures
Image and Vision Computing
Accelerating Compute-Intensive Applications with GPUs and FPGAs
SASP '08 Proceedings of the 2008 Symposium on Application Specific Processors
Designing efficient sorting algorithms for manycore GPUs
IPDPS '09 Proceedings of the 2009 IEEE International Symposium on Parallel&Distributed Processing
A Probabilistic Framework for 3D Visual Object Representation
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Signal Processing
A phase-based approach to the estimation of the optical flow field using spatial filtering
IEEE Transactions on Neural Networks
Low-cost FPGA stereo vision system for real time disparity maps calculation
Microprocessors & Microsystems
Adaptive Census Transform: A novel hardware-oriented stereovision algorithm
Computer Vision and Image Understanding
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In this paper, we describe a real-time vision machine having a stereo camera as input generating visual information on two different levels of abstraction. The system provides visual low-level and mid-level information in terms of dense stereo and optical flow, egomotion, indicating areas with independently moving objects as well as a condensed geometric description of the scene. The system operates at more than 20聽Hz using a hybrid architecture consisting of one dual-GPU card and one quad-core CPU. The different processing stages of visual information have rather different characteristics that in some cases make fine-grained parallelization on a GPU less applicable. However, for most of the stages that are not efficiently implementable on a GPU, a coarse parallelization on multiple CPU-cores is applicable. We show that with such hybrid parallelism, we can achieve a speed up of approximately a factor 90 and a reduction of latency of a factor 26 compared to processing on a single CPU-core. Since the vision machine provides generic visual information it can be used in many contexts. Currently it is used in a driver assistance context as well as in two robotic applications.