Related papers: R$^3$SGM: Real-time Raster-Respecting Semi-Global …
Depth-map is the key computation in computer vision and robotics. One of the most popular approach is via computation of disparity-map of images obtained from Stereo Camera. Semi Global Matching (SGM) method is a popular choice for good…
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)…
In this paper, we propose a real-time FPGA implementation of the Semi-Global Matching (SGM) stereo vision algorithm. The designed module supports a 4K/Ultra HD (3840 x 2160 pixels @ 30 frames per second) video stream in a 4 pixel per clock…
Obtaining highly accurate depth from stereo images in real time has many applications across computer vision and robotics, but in some contexts, upper bounds on power consumption constrain the feasible hardware to embedded platforms such as…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…
Disparity by Block Matching stereo is usually used in applications with limited computational power in order to get depth estimates. However, the research on simple stereo methods has been lesser than the energy based counterparts which…
Our goal here is threefold: [1] To present a new dense-stereo matching algorithm, tMGM, that by combining the hierarchical logic of tSGM with the support structure of MGM achieves 6-8\% performance improvement over the baseline SGM (these…
We present a real-time, non-learning depth estimation method that fuses Light Detection and Ranging (LiDAR) data with stereo camera input. Our approach comprises three key techniques: Semi-Global Matching (SGM) stereo with Discrete…
Semi-Global Matching (SGM) is a widely-used efficient stereo matching technique. It works well for textured scenes, but fails on untextured slanted surfaces due to its fronto-parallel smoothness assumption. To remedy this problem, we…
Deep learning (DL) methods are widely investigated for stereo image matching tasks due to their reported high accuracies. However, their transferability/generalization capabilities are limited by the instances seen in the training data.…
The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field…
We present a flexible FPGA stereo vision implementation that is capable of processing up to 100 frames per second or image resolutions up to 3.4 megapixels, while consuming only 8 W of power. The implementation uses a variation of the…
With the emergence of low-cost robotic systems, such as unmanned aerial vehicle, the importance of embedded high-performance image processing has increased. For a long time, FPGAs were the only processing hardware that were capable of…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
Fully parallel architecture at disparity-level for efficient semi-global matching (SGM) with refined rank method is presented. The improved SGM algorithm is implemented with the non-parametric unified rank model which is the combination of…
To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can…
For many applications in low-power real-time robotics, stereo cameras are the sensors of choice for depth perception as they are typically cheaper and more versatile than their active counterparts. Their biggest drawback, however, is that…
The pursuit of a generalizable stereo matching model, capable of performing well across varying resolutions and disparity ranges without dataset-specific fine-tuning, has revealed a fundamental trade-off. Iterative local search methods…
Fast and accurate depth estimation, or stereo matching, is essential in embedded stereo vision systems, requiring substantial design effort to achieve an appropriate balance among accuracy, speed and hardware cost. To reduce the design…
Running time of the light field depth estimation algorithms is typically high. This assessment is based on the computational complexity of existing methods and the large amounts of data involved. The aim of our work is to develop a simple…