PT Unknown
AU Daniel Hernandez
   Alejandro Chacon
   Antonio Espinosa
   David Vazquez
   Juan Carlos Moure
   Antonio Lopez
TI Embedded real-time stereo estimation via Semi-Global Matching on the GPU
BT 16th International Conference on Computational Science
PY 2016
BP 143
EP 153
VL 80
DE Autonomous Driving; Stereo; CUDA; 3d reconstruction
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 41 frames per second for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method.
ER