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Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-7934-6917
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2012 (English)In: VISAPP 2012 - Proceedings of the International Conference on Computer Vision Theory and Application, vol. 2, 2012, p. 415-418Conference paper, Published paper (Other academic)
Abstract [en]

This paper presents a set of approaches for increasing the accuracy of basic area-based stereo matching methods. It is targeting real-time FPGA systems for dense disparity map estimation. The methods are focused on low resource usage and maximized improvement per cost unit to enable the inclusion of an autonomous system in an FPGA. The approach performs on par with other area-matching implementations, but at substantially lower resource usage. Additionally, the solution removes the requirement for external memory for reconfigurable hardware together with the limitation in image size accompanying standard methods. As a fully piped complete on-chip solution, it is highly suitable for real-time stereo-vision systems, with a frame rate over 100 fps for Megapixel images.

Place, publisher, year, edition, pages
2012. p. 415-418
National Category
Robotics Embedded Systems
Research subject
Electronics
Identifiers
URN: urn:nbn:se:mdh:diva-13007ISBN: 9789898565044 (print)OAI: oai:DiVA.org:mdh-13007DiVA, id: diva2:441066
Conference
International Conference on Computer Vision Theory and Applications, VISAPP 2012; Rome; 24 February 2012
Available from: 2011-09-14 Created: 2011-09-14 Last updated: 2015-01-09Bibliographically approved
In thesis
1. Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
Open this publication in new window or tab >>Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
2011 (English)Licentiate thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2011
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 142
National Category
Robotics Embedded Systems
Research subject
Electronics
Identifiers
urn:nbn:se:mdh:diva-12996 (URN)978-91-7485-035-2 (ISBN)
Presentation
2011-09-26, Beta, 14:00 (English)
Opponent
Supervisors
Available from: 2011-09-14 Created: 2011-09-14 Last updated: 2013-12-03Bibliographically approved

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Ekstrand, FredrikEkström, MikaelAsplund, Lars

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Ekstrand, FredrikAhlberg, CarlEkström, MikaelAsplund, LarsSpampinato, Giacomo
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CiteExportLink to record
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Cite
Citation style
  • apa
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  • vancouver
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Language
  • de-DE
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  • Other locale
More languages
Output format
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  • asciidoc
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