Real-time stereo vision on a reconfigurable system

Authors:
SungHwan Lee;Jongsu Yi;JunSeong Kim
Affiliations:
School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, Korea;School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, Korea;School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, Korea
Venue:
SAMOS'05 Proceedings of the 5th international conference on Embedded Computer Systems: architectures, Modeling, and Simulation
Year:
2005

Citing 7
Cited 7

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A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms

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Maximum Likelihood Stereo Matching

ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
Advances in Computational Stereo

IEEE Transactions on Pattern Analysis and Machine Intelligence
Robustness to Noise of Stereo Matching

ICIAP '03 Proceedings of the 12th International Conference on Image Analysis and Processing
Computational Experiments with a Feature Based Stereo Algorithm

IEEE Transactions on Pattern Analysis and Machine Intelligence

Flexible hardware-based stereo matching

EURASIP Journal on Embedded Systems - Special issue on design and architectures for signal and image processing
FPGA based disparity map computation with vergence control

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Leveraging cost matrix structure for hardware implementation of stereo disparity computation using dynamic programming

Computer Vision and Image Understanding
Towards hardware stereoscopic 3D reconstruction: a real-time FPGA computation of the disparity map

Proceedings of the Conference on Design, Automation and Test in Europe
Design and hardware implementation of a stereo-matching system based on dynamic programming

Microprocessors & Microsystems
Hardware design considerations for edge-accelerated stereo correspondence algorithms

VLSI Design - Special issue on VLSI Circuits, Systems, and Architectures for Advanced Image and Video Compression Standards
Towards accurate hardware stereo correspondence: a real-time FPGA implementation of a segmentation-based adaptive support weight algorithm

DATE '12 Proceedings of the Conference on Design, Automation and Test in Europe

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Abstract

Real-time three-dimensional vision would support various applications including a passive system for collision avoidance. It is a good alternative of active systems, which are subject to interference in noisy environments. In this paper, we investigate the optimization of real-time stereo vision with respect to resource usage. Correlation techniques using a simple sum of absolute differences(SAD) is popular having good performance. However, processing even a small image takes seconds. In order to provide depth maps at frame rate around 30fps, which typical cameras can provide, hardware accelerations are necessary. Regular structures, linear data flow and abundant parallelism make the correlation algorithm a good candidate for reconfigurable hardware. We implemented versions of SAD algorithms in VHDL and synthesized them to determine resource requirements and performance. By decomposing a SAD correlator into column SAD calculator and row SAD calculator with buffers in between we showed around 50% savings in resource usage. By altering the shape of correlation windows we found that a ‘short and wide' rectangular window reduced storage requirements without sacrificing quality compared to a square one.