Embedded Real-time Stereo Estimation via Semi-global Matching on the GPU
نویسندگان
چکیده
منابع مشابه
Embedded Real-time Stereo Estimation via Semi-Global Matching on the GPU
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 relia...
متن کاملMutual Information Based Semi-Global Stereo Matching on the GPU
Real-time stereo matching is necessary for many practical applications, including robotics. There are already many real-time stereo systems, but they typically use local approaches that cause object boundaries to be blurred and small objects to be removed. We have selected the Semi-Global Matching (SGM) method for implementation on graphics hardware, because it can compete with the currently be...
متن کاملDense real-time stereo matching using memory efficient semi-global-matching variant based on FPGAs
This paper presents a stereo image matching system that takes advantage of a global image matching method. The system is designed to provide depth information for mobile robotic applications. Typical tasks of the proposed system are to assist in obstacle avoidance, SLAM and path planning. Mobile robots pose strong requirements about size, energy consumption, reliability and output quality of th...
متن کاملA Real-Time Low-Power Stereo Vision Engine Using Semi-Global Matching
Many real-time stereo vision systems are available on lowpower platforms. They all either use a local correlation-like stereo engine or perform dynamic programming variants on a scan-line. However, when looking at high-performance global stereo methods as listed in the upper third of the Middlebury database, the low-power real-time implementations for these methods are still missing. We propose...
متن کاملEfficient Semi-global Matching for Trinocular Stereo
This paper describes an efficient method for dense matching of two or three images. After some investigations in different similarity measures we propose a modification of Semi-Global Matching, which uses a simple energy function that implies piecewise smoothness but no ordering and gives promising results in practice. Our improvements include a symmetric and hierarchical matching strategy and ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Procedia Computer Science
سال: 2016
ISSN: 1877-0509
DOI: 10.1016/j.procs.2016.05.305