@InProceedings{DanielHernandez2016,
author="Daniel Hernandez
and Alejandro Chacon
and Antonio Espinosa
and David Vazquez
and Juan Carlos Moure
and Antonio Lopez",
title="Embedded real-time stereo estimation via Semi-Global Matching on the GPU",
booktitle="16th International Conference on Computational Science",
year="2016",
volume="80",
pages="143--153",
optkeywords="Autonomous Driving",
optkeywords="Stereo",
optkeywords="CUDA",
optkeywords="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.",
optnote="ADAS; 600.085; 600.082; 600.076",
optnote="exported from refbase (http://refbase.cvc.uab.es/show.php?record=2740), last updated on Wed, 11 Oct 2017 13:19:16 +0200",
opturl="https://doi.org/10.1016/j.procs.2016.05.305",
file=":http://refbase.cvc.uab.es/files/HCE2016.pdf:PDF"
}