Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
484080 | Procedia Computer Science | 2016 | 11 Pages |
Abstract
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 640×480, 128 disparity levels, and using 4 path directions for the SGM method.
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Science (General)
Authors
D. Hernandez-Juarez, A. Chacón, A. Espinosa, D. Vázquez, J.C. Moure, A.M. López,