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Daniel Hernandez, Alejandro Chacon, Antonio Espinosa, David Vazquez, Juan Carlos Moure, & Antonio Lopez. (2016). Stereo Matching using SGM on the GPU.
Abstract: Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real-time system producing reliable disparity estimation results on the new embedded energy efficient GPU devices. Our design runs on a Tegra X1 at 42 frames per second (fps) for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method.
Keywords: CUDA; Stereo; Autonomous Vehicle
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