Towards a real-time high-definition depth sensor with hardware-efficient stereo matching

Ke Zhang; Guanyu Yi; C.-K. Liao; Christine Lin; Hsiu-Chi Yeh; Rudy Lauwereins; Luc Van Gool; Gauthier Lafruit

doi:10.1117/12.906574

25 February 2012 Towards a real-time high-definition depth sensor with hardware-efficient stereo matching

Ke Zhang, Guanyu Yi, C.-K. Liao, Christine Lin, Hsiu-Chi Yeh, Rudy Lauwereins, Luc Van Gool, Gauthier Lafruit

Proceedings Volume 8288, Stereoscopic Displays and Applications XXIII; 82882K (2012) https://doi.org/10.1117/12.906574
Event: IS&T/SPIE Electronic Imaging, 2012, Burlingame, California, United States

Abstract

In this paper, we present a hardware design of stereo matching for depth extraction. It is capable of matching high-definition images at real-time speed, producing high-quality disparity maps. The stereo algorithm comprises three major components, i.e. census transform, dynamic programming and local-adaptive voting. The census transform makes our method robust to radiometric differences. The dynamic programming method propagates information along scanlines by imposing a smoothness criterion. The local-adaptive voting further improves the matching quality, utilizing the correlation between intensity images and disparity maps. The whole algorithm is prototyped on a FPGA platform, effectively harnessing the power of parallel computing. With a working frequency of 65MHz, our design can produce high-quality 1024×768 disparity maps at 60fps.

Citation Download Citation

Ke Zhang, Guanyu Yi, C.-K. Liao, Christine Lin, Hsiu-Chi Yeh, Rudy Lauwereins, Luc Van Gool, and Gauthier Lafruit "Towards a real-time high-definition depth sensor with hardware-efficient stereo matching", Proc. SPIE 8288, Stereoscopic Displays and Applications XXIII, 82882K (25 February 2012); https://doi.org/10.1117/12.906574

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