Probabilistic reasoning in intelligent systems: networks of plausible inference
Probabilistic reasoning in intelligent systems: networks of plausible inference
Parallel program design: a foundation
Parallel program design: a foundation
Theory and Practice of Projective Rectification
International Journal of Computer Vision
Fast Approximate Energy Minimization via Graph Cuts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Using Real-Time Stereo Vision for Mobile Robot Navigation
Autonomous Robots
Stereo Matching Using Belief Propagation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Active Appearance-Based Robot Localization Using Stereo Vision
Autonomous Robots
Belief Propagation on the GPU for Stereo Vision
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Efficient Belief Propagation for Early Vision
International Journal of Computer Vision
A parallel framework for loopy belief propagation
Proceedings of the 9th annual conference companion on Genetic and evolutionary computation
The cell broadband engine: exploiting multiple levels of parallelism in a chip multiprocessor
International Journal of Parallel Programming
Merge: a programming model for heterogeneous multi-core systems
Proceedings of the 13th international conference on Architectural support for programming languages and operating systems
Optimizing JPEG2000 Still Image Encoding on the Cell Broadband Engine
ICPP '08 Proceedings of the 2008 37th International Conference on Parallel Processing
Optimizing the use of static buffers for DMA on a CELL chip
LCPC'06 Proceedings of the 19th international conference on Languages and compilers for parallel computing
On the optimality of solutions of the max-product belief-propagation algorithm in arbitrary graphs
IEEE Transactions on Information Theory
Constructing free-energy approximations and generalized belief propagation algorithms
IEEE Transactions on Information Theory
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Markov random field models provide a robust formulation for the stereo vision problem of inferring three-dimensional scene geometry from two images taken from different viewpoints. One of the most advanced algorithms for solving the associated energy minimization problem in the formulation is belief propagation (BP). Although BP provides very accurate results in solving stereo vision problems, the high computational cost of the algorithm hinders it from real-time applications. In recent years, multicore architectures have been widely adopted in various industrial application domains. The high computing power of multicore processors provides new opportunities to implement stereo vision algorithms. This article examines and extracts the parallelisms in the BP method for stereo vision on multicore processors. This article shows that parallelism of the algorithm can be efficiently utilized on multicore processors. The results show that parallelization on multicore processors provides a speedup for the BP algorithm of almost 15 times compared to the single-processor implementation on the PPE of the Cell BE. The experimental results also indicate that a frame rate of 6.5 frames/second is possible when implementing the parallelized BP algorithm on the multicore processor of Cell BE with one PPE and six SPEs.