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
Non-parametric Local Transforms for Computing Visual Correspondence
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
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
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
Adaptive Support-Weight Approach for Correspondence Search
IEEE Transactions on Pattern Analysis and Machine Intelligence
People detection and tracking using stereo vision and color
Image and Vision Computing
High-Quality Real-Time Stereo Using Adaptive Cost Aggregation and Dynamic Programming
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Real-time disparity map computation module
Microprocessors & Microsystems
A Parallel Reconfigurable Architecture for Real-Time Stereo Vision
ICESS '09 Proceedings of the 2009 International Conference on Embedded Software and Systems
IJCAI'91 Proceedings of the 12th international joint conference on Artificial intelligence - Volume 2
A portable stereo vision system for whole body surface imaging
Image and Vision Computing
Stereo vision for robotic applications in the presence of non-ideal lighting conditions
Image and Vision Computing
Robotics and Autonomous Systems
A fast stereo matching algorithm suitable for embedded real-time systems
Computer Vision and Image Understanding
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
Stereo matching using gradient similarity and locally adaptive support-weight
Pattern Recognition Letters
Low-cost FPGA stereo vision system for real time disparity maps calculation
Microprocessors & Microsystems
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
Algorithm and Architecture of Disparity Estimation With Mini-Census Adaptive Support Weight
IEEE Transactions on Circuits and Systems for Video Technology
High Performance Stereo Vision Designed for Massively Data Parallel Platforms
IEEE Transactions on Circuits and Systems for Video Technology
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This paper presents a new hardware-oriented approach for the extraction of disparity maps from stereo images. The proposed method is based on the herein named Adaptive Census Transform that exploits adaptive support weights during the image transformation; the adaptively weighted sum of SADs is then used as the dissimilarity metric. Quality tests show that the proposed method reaches significantly better accuracy than alternative hardware-oriented approaches. To demonstrate the practical hardware feasibility, a specific architecture has been designed and its implementation has been carried out using a single FPGA chip. Such a VLSI implementation allows a frame rate up to 68fps to be reached for 640x480 stereo images, using just 80,000 slices and 32 RAM blocks of a Virtex6 chip.