An Optimized Software-Based Implementation of a Census-Based Stereo Matching Algorithm
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Flexible hardware-based stereo matching
EURASIP Journal on Embedded Systems - Special issue on design and architectures for signal and image processing
A Real-Time Low-Power Stereo Vision Engine Using Semi-Global Matching
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Distributed real-time stereo matching on smart cameras
Proceedings of the Fourth ACM/IEEE International Conference on Distributed Smart Cameras
Accurate hardware-based stereo vision
Computer Vision and Image Understanding
Efficient normalized cross correlation calculation method for stereo vision based robot navigation
Frontiers of Computer Science in China
Low-cost FPGA stereo vision system for real time disparity maps calculation
Microprocessors & Microsystems
Real-time architecture for a robust multi-scale stereo engine on FPGA
IEEE Transactions on Very Large Scale Integration (VLSI) Systems
Efficient and high performance FPGA-based rectification architecture for stereo vision
Microprocessors & Microsystems
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Our goal is to build vision systems suitable for deployment in devices that operate in demanding dynamic, variably lit, real-world environments. For such systems to be successful, not only must they perform their visual analysis well and robustly, but they must also be small, cheap and consume little power. Further, since volume deployments of such vision systems are still nascent, the systems must be taskable -- flexible enough to support many different uses. We have met our goal with the Tyzx DeepSea G2 Stereo Vision System, an embedded stereo camera consisting of two CMOS imagers, a DeepSea II stereo ASIC, an FPGA, a DSP/Co-processor and a PowerPC running Linux, connected to the Ethernet. It is made practically taskable by the definition of a set of configurable visual primitives supported by specific hardware acceleration. These primitives include stereo correlation, color and depth background modeling, and 2D and 3D quantized representations or projections of the range data. We have defined a common programming interface in which the visual primitives are available both in traditional workstation environments, supported in software, and on the G2 with hardware acceleration. Single G2s are deployed in mobile platforms such as robots and automobiles, while networks of G2s are deployed in tracking systems in public and private sites around the world.