Name
Title | ||
|---|---|---|
Two stage Real-Time stereo correspondence algorithm and FPGA architecture using a modified Generalized Hough transform |
Abstract | ||
|---|---|---|
We present a two stage approach for the task of calculating the stereo correspondence by processing a stereo image pair. In the first stage, coarse disparities for line segments are found using a modified Generalized Hough transform approach and absolute differences. In the second stage, the coarse disparities and its neighbors are evaluated and refined with a local window based Census transform. Finally, the dense disparity map is filtered with a 3×3 Median filter to remove outliers. Additionally, we propose a parallel and pipelined FPGA design, processing one pair of pixels and delivering one disparity per clock cycle. We evaluated the disparity map quality with Middlebury [1] stereo datasets. Our approach reaches qualities which are comparable to recent hardware implementations but outperforms them in terms of hardware resource utilization and data throughput. For the highest quality configuration, a frame rate of 270 frames per second is achieved for Middlebury sized images of 450×375 pixels with a disparity range of D=65. |
Year | Venue | Keywords |
|---|---|---|
2014 | Systems, Signals and Image Processing | hough transforms,field programmable gate arrays,median filters,stereo image processing,fpga architecture,middlebury stereo datasets,absolute difference,coarse disparities,data throughput,dense disparity map,field programmable gate array,hardware resource utilization,local window based census transform,median filter,modified generalized hough transform,pipelined fpga design,realtime stereo correspondence algorithm,stereo image pair,hough transform,image processing,real-time,stereo vision,matched filters,real time,registers |
Field | DocType | ISSN |
Computer vision,Line segment,Median filter,Pattern recognition,Computer science,Field-programmable gate array,Hough transform,Pixel,Artificial intelligence,Frame rate,Matched filter,Cycles per instruction | Conference | 2157-8672 |
Citations | PageRank | References |
1 | 0.37 | 8 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Frank Schumacher | 1 | 1 | 1.05 |
| Thomas Greiner | 2 | 13 | 6.84 |