%0 Conference Proceedings
%T Embedded real-time stereo estimation via Semi-Global Matching on the GPU
%A Daniel Hernandez
%A Alejandro Chacon
%A Antonio Espinosa
%A David Vazquez
%A Juan Carlos Moure
%A Antonio Lopez
%B 16th International Conference on Computational Science
%D 2016
%V 80
%F Daniel Hernandez2016
%O ADAS; 600.085; 600.082; 600.076
%O exported from refbase (http://refbase.cvc.uab.es/show.php?record=2740), last updated on Wed, 11 Oct 2017 13:19:16 +0200
%X 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.
%K Autonomous Driving
%K Stereo
%K CUDA
%K 3d reconstruction
%U https://doi.org/10.1016/j.procs.2016.05.305
%U http://refbase.cvc.uab.es/files/HCE2016.pdf
%P 143-153