PT Unknown
AU Daniel Hernandez
   Alejandro Chacon
   Antonio Espinosa
   David Vazquez
   Juan Carlos Moure
   Antonio Lopez
AU PUMPS
TI Stereo Matching using SGM on the GPU
PY 2016
DE CUDA; Stereo; Autonomous Vehicle
AB 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.
ER