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Author | Daniel Hernandez; Alejandro Chacon; Antonio Espinosa; David Vazquez; Juan Carlos Moure; Antonio Lopez | ||||
Title | Embedded real-time stereo estimation via Semi-Global Matching on the GPU | Type | Conference Article | ||
Year | 2016 | Publication | 16th International Conference on Computational Science | Abbreviated Journal | |
Volume | 80 | Issue | Pages | 143-153 | |
Keywords | Autonomous Driving; Stereo; CUDA; 3d reconstruction | ||||
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 41 frames per second for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method. | ||||
Address | San Diego; CA; USA; June 2016 | ||||
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Language | Summary Language | Original Title | |||
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Area | Expedition | Conference | ICCS | ||
Notes | ADAS; 600.085; 600.082; 600.076 | Approved | no | ||
Call Number | ADAS @ adas @ HCE2016a | Serial | 2740 | ||
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