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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)…

Stereo depth estimation is used for many computer vision applications. Though many popular methods strive solely for depth quality, for real-time mobile applications (e.g. prosthetic glasses or micro-UAVs), speed and power efficiency are…

The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision system embedded in an unmanned aerial vehicle (UAV). The…

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…

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…

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…

We present an accurate and GPU-accelerated Stereo Visual SLAM design called Jetson-SLAM. It exhibits frame-processing rates above 60FPS on NVIDIA's low-powered 10W Jetson-NX embedded computer and above 200FPS on desktop-grade 200W GPUs,…

This study introduces a lightweight U-Net model optimized for real-time semantic segmentation of aerial images, targeting the efficient utilization of Commercial Off-The-Shelf (COTS) embedded computing platforms. We maintain the accuracy of…

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…

Mobile stereo-matching systems have become an important part of many applications, such as automated-driving vehicles and autonomous robots. Accurate stereo-matching methods usually lead to high computational complexity; however, mobile…

Scene understanding is paramount in robotics, self-navigation, augmented reality, and many other fields. To fully accomplish this task, an autonomous agent has to infer the 3D structure of the sensed scene (to know where it looks at) and…

Stereo matching is a critical task for robot navigation and autonomous vehicles, providing the depth estimation of surroundings. Among all stereo matching algorithms, Efficient Large-scale Stereo (ELAS) offers one of the best tradeoffs…

Real-time semantic segmentation is a challenging task that requires high-accuracy models with low-inference times. Implementing these models on embedded systems is limited by hardware capability and memory usage, which produces bottlenecks.…

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…

Depth sensing is of paramount importance for unmanned aerial and autonomous vehicles. Nonetheless, contemporary monocular depth estimation methods employing complex deep neural networks within Convolutional Neural Networks are inadequately…

An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…

Modern neural network-based algorithms are able to produce highly accurate depth estimates from stereo image pairs, nearly matching the reliability of measurements from more expensive depth sensors. However, this accuracy comes with a…

We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to…

With FaSS-MVS, we present an approach for fast multi-view stereo with surface-aware Semi-Global Matching that allows for rapid depth and normal map estimation from monocular aerial video data captured by UAVs. The data estimated by…

Advancements in AI have greatly enhanced the medical imaging process, making it quicker to diagnose patients. However, very few have investigated the optimization of a multi-model system with hardware acceleration. As specialized edge…