A novel stereo matching method for wide disparity range detection

Authors:
Dongil Han;Dae-Hwan Hwang
Affiliations:
Vision and Image Processing Lab., Sejong University, Seoul, Korea;Embedded H/W Component Research Team, Electronics and Telecommunications Research Institute, Daejeon, Korea
Venue:
ICIAR'05 Proceedings of the Second international conference on Image Analysis and Recognition
Year:
2005

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Abstract

This paper describes a real-time stereo depth measurement image processing system. This system uses Xilinx Virtex-II Series XC2V3000 FPGA and generates 8-bit sub-pixel disparities on 640 by 480 resolution images at video rate (60 frames/sec) with maximum disparity ranges of up to 128 pixels. The implemented stereo matching algorithm finds a minimum of window-based sum of absolute difference (SAD) operation. And the preprocessing, scale transformation and final stage compensation technique are adopted for maximizing the wide disparity range detection. The proposed vision system is suitable for real-time range estimation and robot navigation applications.