IEEE Transactions on Pattern Analysis and Machine Intelligence
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Dense Stereo Based on the Uniqueness Constraint
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 3 - Volume 3
Advances in Computational Stereo
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
A Real-Time Large Disparity Range Stereo-System using FPGAs
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
The Tyzx DeepSea G2 Vision System, ATaskable, Embedded Stereo Camera
CVPRW '06 Proceedings of the 2006 Conference on Computer Vision and Pattern Recognition Workshop
A Parallel Reconfigurable Architecture for Real-Time Stereo Vision
ICESS '09 Proceedings of the 2009 International Conference on Embedded Software and Systems
Accurate hardware-based stereo vision
Computer Vision and Image Understanding
A two-level real-time vision machine combining coarse- and fine-grained parallelism
Journal of Real-Time Image Processing
Video-rate stereo depth measurement on programmable hardware
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
A real-time fuzzy hardware structure for disparity map computation
Journal of Real-Time Image Processing
Real-time disparity map computation using the cell broadband engine
Journal of Real-Time Image Processing
FPGA Design and Implementation of a Real-Time Stereo Vision System
IEEE Transactions on Circuits and Systems for Video Technology
Adaptive Census Transform: A novel hardware-oriented stereovision algorithm
Computer Vision and Image Understanding
Evaluation of stereo correspondence algorithms and their implementation on FPGA
Journal of Systems Architecture: the EUROMICRO Journal
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Several applications demand efficient hardware implementations of stereo vision systems in order to furnish real time three-dimensional measurements. This paper proposes a complete fast low-cost stereo vision system that performs stereo image rectification with tangential and radial distortion removal, computes dense disparity maps using the Sum of Absolute Differences as the dissimilarity metric, and, finally, exploits a novel injective consistency check purpose-designed for eliminating unreliable disparity values. The proposed system has been realized and hardware tested for several images resolutions and disparity ranges. When 1280x720 grayscale images are processed with the disparity range equal to 30, the system allows a frame rate up to 97fps@89MHz to be reached. It has been realized on a single low-cost XilinxVirtex-4 XC4VLX60 FPGA chip and it occupies 63 DSPs, 128 BRAMs and 15728 slices.