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Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
Mälardalens högskola, Akademin för innovation, design och teknik.ORCID-id: 0000-0001-7934-6917
Mälardalens högskola, Akademin för innovation, design och teknik.
Mälardalens högskola, Akademin för innovation, design och teknik.ORCID-id: 0000-0002-5832-5452
Mälardalens högskola, Akademin för innovation, design och teknik.ORCID-id: 0000-0001-5141-7242
Vise andre og tillknytning
2011 (engelsk)Inngår i: ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications, 2011, s. 465-469Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper proposes a limited implementation of areabasedstereo matching for minimal resource utilization. It shows that it is possible to achieve an acceptable disparity map without the use of expensive resources. The matching accuracy for the single-row SAD can even outperform that of its full-row counterpart. Additionally, it excels in terms of frame rate and resource utilization, and is highly suitable for real-time stereo-vision systems.

sted, utgiver, år, opplag, sider
2011. s. 465-469
HSV kategori
Forskningsprogram
elektronik
Identifikatorer
URN: urn:nbn:se:mdh:diva-13006DOI: 10.1109/ICARA.2011.6144928Scopus ID: 2-s2.0-84857402371ISBN: 978-145770328-7 (tryckt)OAI: oai:DiVA.org:mdh-13006DiVA, id: diva2:441053
Konferanse
5th International Conference on Automation, Robotics and Applications, Wellington, December 6-8, 2011
Tilgjengelig fra: 2011-09-14 Laget: 2011-09-14 Sist oppdatert: 2013-12-19bibliografisk kontrollert
Inngår i avhandling
1. Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
Åpne denne publikasjonen i ny fane eller vindu >>Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
2011 (engelsk)Licentiatavhandling, med artikler (Annet vitenskapelig)
Abstract [en]

There is a need for compact, high-speed, and low-power vision systems for enabling real-time mobile autonomous applications. The best approach to achieve this is to implement the bulk of the application in hardware. Reconfigurable hardware meet these requirements without the limitation of fixed functionality that accompanies application-specific circuits. Resource constraints of reconfigurable hardware calls for optimized implementations i terms of resource usage with maintained performance.

The research group in Robotics at Mälardalen University is moving toward the completion of a reconfigurable hardware-platform for stereo vision, coupled with a compact embedded computer. This system will incorporate hardware-based preprocessing components enabling visual perception for autonomous machines. This thesis covers the reconfigurable hardware section of the vision system concerning the realization of scene depth extraction. It shows the advantages of image preprocessing in hardware and propose a resource optimized approach to stereo matching. The work quantifies the impact of reduced resource utilization and a desire for increased accuracy in disparity estimation. The implemented stereo matching approach performs on par with recent similar implementations in terms of accuracy, but excels in terms of resource utilization and resource sharing, as the external memory requirement is removed for larger images.

Future work aims to further include processes for navigation, and structure and object recognition. Furthermore, the system will be adapted to real world scenarios, both indoors and outdoors.

sted, utgiver, år, opplag, sider
Västerås: Mälardalen University, 2011
Serie
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 142
HSV kategori
Forskningsprogram
elektronik
Identifikatorer
urn:nbn:se:mdh:diva-12996 (URN)978-91-7485-035-2 (ISBN)
Presentation
2011-09-26, Beta, 14:00 (engelsk)
Opponent
Veileder
Tilgjengelig fra: 2011-09-14 Laget: 2011-09-14 Sist oppdatert: 2013-12-03bibliografisk kontrollert

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