Abstract
This paper describes the use of configurable logic boards to carry out real-time stereo image matching. The main factors in achieving this high performance are the elimination of instruction and data fetching overheads associated with conventional processors and the use of a non-parametric matching measure. Many reported stereo-matching systems are based on numerically intensive measures such as normalized cross-correlation which is expensive in terms of logic. Non-parametric measures require only simple, parallelizable, functions such as comparators, counters and exclusive-or, and are thus better suited to FPGA implementation. Further advantage is obtained by being able to overlap processing with image input and output, and parallel computation of disparities.
We assume that the images are in correspondence, that is, the epipolar line is parallel to the scan line.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
P. Dunn. A Configurable Logic Processor for Machine Vision. Proc. 5th International Workshop on Field-Programmable Logic and Applications, W. Moore and W. Luk, Eds., LCS 975, Springer, pp68–77, 1995.
O. Faugeras, B. Hotz, H. Mathieu, et al. Real time correlation-based stereo: algorithm, implementations and applications. Technical Report 2013, INRIA, August 1993.
Kurt Konolige. Small Vision Module, SRI International, http://www.ai.sri.com/ konolige/svm/index.html.
L. Matthies, A. Kelly, T. Litwin, and G. Tharp. Obstacle detection for unmanned ground vehicles: a progress report. In Robotics Research: the Seventh International Symposium, G. Giralt and G. Hirzinger, Eds. Springer, 1996.
I. Page and W. Luk. Compiling Occam into FPGAs. FPGAs, W. Moore and W. Luk, Eds., Abingdon EE&CS Books, pp271–283, 1991.
Jon A. Webb. Implementation and performance of fast parallel multi-baseline stereo vision. In Computer Architectures for Machine Perception, New Orleans, December 1993.
J. Woodfill and B. Von Herzen. Real-Time Stereo Vision on the PARTS Reconfigurable Computer. IEEE Workshop on FPGAs for Custom Computing Machines, pp242–250, April 1997.
R. Zabih and J. Woodfill. Non-parametric local transforms for computing visual correspondence. Proc. 3rd European Conf. Computer Vision, Stockholm, May 1994.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1997 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Dunn, P., Corke, P. (1997). Real-time stereopsis using FPGAs. In: Luk, W., Cheung, P.Y.K., Glesner, M. (eds) Field-Programmable Logic and Applications. FPL 1997. Lecture Notes in Computer Science, vol 1304. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63465-7_245
Download citation
DOI: https://doi.org/10.1007/3-540-63465-7_245
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-63465-2
Online ISBN: 978-3-540-69557-8
eBook Packages: Springer Book Archive