Embedded real-time stereo estimation via Semi-Global Matching on the GPU
Computer Vision and Pattern Recognition
2016-10-14 v1
Abstract
Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real-time system producing reliable disparity estimation results on the new embedded energy-efficient GPU devices. Our design runs on a Tegra X1 at 42 frames per second (fps) for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method.
Cite
@article{arxiv.1610.04121,
title = {Embedded real-time stereo estimation via Semi-Global Matching on the GPU},
author = {Daniel Hernandez-Juarez and Alejandro Chacón and Antonio Espinosa and David Vázquez and Juan Carlos Moure and Antonio Manuel López},
journal= {arXiv preprint arXiv:1610.04121},
year = {2016}
}