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This paper proposes a coarse-to-fine two-level synchronous data acquisition and transmission system for binocular stereo vision, which satisfies strict synchronous requirement of stereo vision.Specifically,this synchronization system design contains: the hardware circuit design based coarse level and the hardware description language (HDL) design based fine level.The former includes synchronization...
This paper presents a novel binary fully adaptable window for incorporating in a stereo matching System-on-Chip (SoC) architecture. This architecture is fully scalable and parameterizable to allow for custom SoC implementations, as well as rapid prototyping on FPGAs. For each window a binary mask window is generated which selects the supporting pixels in the cost aggregation phase of the SAD algorithm...
In this paper, we describe the design and implementation of Field Programmable Gate Array (FPGA) based stereo vision system. Implementation of correlation-based algorithm is well designed to exploit the parallelism in FPGA. The system is capable of running at more than 70 frames per second with 512 × 512 images. To improve the inherent weakness of simple correlation-based algorithm, two methods have...
This paper describes a new architecture and the corresponding implementation of a stereo vision system that covers the entire stereo vision process including noise reduction, rectification, disparity estimation, and visualization. Dense disparity estimation is performed using the non-parametric rank transform and semi-global matching (SGM), which is among the top performing stereo matching methods...
Automatically generated depth maps from video are usually not aligned with the objects in the original image and produced at lower resolutions. We propose to apply a joint-bilateral filter to smoothen the depth map within the objects and upsample it to the original image resolution, while keeping the object edges in the depth map aligned with the original image. We performed algorithmic and ASIC specific...
In this work, we present the implementation in a reconfigurable architecture of a dense stereo vision algorithm based on census transform. Analyzing census transform algorithm we found that size and access memory could be reduced, which consequently also reduced the latency time. Furthermore, architecture resources are optimized and efficient thanks to binary operations and integer arithmetic used...
This article presents a reconfigurable architecture to calculate a dense disparity map of two stereo images based on census transform. This architecture is simplified and efficient as a result of binary operations and integer arithmetic used by census transform. Our architecture was prototyped using GAUT which is a practical tool to develop high-level synthesis. We take advantage of GAUT rapid prototyping...
In this paper, a real-time 3D video synthesis method suitable for implementation on commodity graphic hardware is presented. The system consists of pre-calibrated binocular stereo cameras and an NVIDIA GeForce 8 Series graphic card. Recently, most research has focused on improving the quality of depth maps, which is usually time-consuming and unsuitable for real-time reconstruction. In our method,...
This paper presents an accelerated implementation of a multi-view stereo pipeline using parallel processing capabilities of the GPUs. Our system takes as input a set of calibrated photographs and produces a textured 3D mesh of the scene. The pipeline is divided into three parts: dense stereo matching, multi-view correspondence linking and 3D model generation. First, we use a combined vertical aggregation...
The large message-memory size has been a major design issue in belief propagation for stereo matching methods. To reduce its size, we proposed an in-place message updating approach which stores new messages into expired ones. Thus, this approach only needs one message memory and a small temporary message memory. Further combining with block based belief propagation, the final architecture only needs...
In this paper we describe a fully integrated, real-time, miniaturized embedded stereo vision system (MESVS-II), which fits within 5times5cm and consumes very low power. This is a significant improvement over the original MESVS-I system in terms of performance, quality and accuracy of results. MESVS-II running at 600MHz per core, is capable of operating at up to 20 fps, which is twice as fast as MESVS-I,...
Estimation of depth within an imaged scene can be formulated as a stereo correspondence problem. Typical software solutions tend to be too slow for high frame rate (i.e. ges 30 fps) performance. Equivalent hardware solutions, however, can result in marked improvements. This paper explores one such pipelined hardware implementation that generates dense binocular disparity (depth) estimates at frame...
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