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Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-7934-6917
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0002-5832-5452
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-5141-7242
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2011 (English)In: ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications, 2011, 465-469 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2011. 465-469 p.
National Category
Robotics Embedded Systems
Research subject
Electronics
Identifiers
URN: urn:nbn:se:mdh:diva-13006DOI: 10.1109/ICARA.2011.6144928Scopus ID: 2-s2.0-84857402371ISBN: 978-145770328-7 (print)OAI: oai:DiVA.org:mdh-13006DiVA: diva2:441053
Conference
5th International Conference on Automation, Robotics and Applications, Wellington, December 6-8, 2011
Available from: 2011-09-14 Created: 2011-09-14 Last updated: 2013-12-19Bibliographically 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, FredrikAhlberg, CarlEkström, MikaelAsplund, LarsSpampinato, Giacomo
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CiteExportLink to record
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Citation style
  • apa
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Language
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Output format
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