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Paper detail

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 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.

preprint2016arXivOpen access
Daniel Hernandez-JuarezAlejandro ChacónAntonio EspinosaDavid VázquezJuan Carlos MoureAntonio Manuel López
Computer Vision
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Daniel Hernandez-JuarezAlejandro ChacónAntonio EspinosaDavid VázquezJuan Carlos MoureAntonio Manuel López

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