PT Unknown
AU Daniel Hernandez
   Juan Carlos Moure
   Toni Espinosa
   Alejandro Chacon
   David Vazquez
   Antonio Lopez
TI Real-time 3D Reconstruction for Autonomous Driving via Semi-Global Matching
BT GPU Technology Conference
PY 2016
DE Stereo; Autonomous Driving; GPU; 3d reconstruction
AB Robust and dense computation of depth information from stereo-camera systems is a computationally demanding requirement for real-time autonomous driving. Semi-Global Matching (SGM) [1] approximates heavy-computation global algorithms results but with lower computational complexity, therefore it is a good candidate for a real-time implementation. SGM minimizes energy along several 1D paths across the image. The aim of this work is to provide a real-time system producing reliable results on energy-efficient hardware. Our design runs on a NVIDIA Titan X GPU at 104.62 FPS and on a NVIDIA Drive PX at 6.7 FPS, promising for real-time platforms
ER