1 May 2017 Real-time depth processing for embedded platforms
Author Affiliations +
Abstract
Obtaining depth information of a scene is an important requirement in many computer-vision and robotics applications. For embedded platforms, passive stereo systems have many advantages over their active counterparts (i.e. LiDAR, Infrared). They are power efficient, cheap, robust to lighting conditions and inherently synchronized to the RGB images of the scene. However, stereo depth estimation is a computationally expensive task that operates over large amounts of data. For embedded applications which are often constrained by power consumption, obtaining accurate results in real-time is a challenge. We demonstrate a computationally and memory efficient implementation of a stereo block-matching algorithm in FPGA. The computational core achieves a throughput of 577 fps at standard VGA resolution whilst consuming less than 3 Watts of power. The data is processed using an in-stream approach that minimizes memory-access bottlenecks and best matches the raster scan readout of modern digital image sensors.
© (2017) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Oscar Rahnama, Oscar Rahnama, Aleksej Makarov, Aleksej Makarov, Philip Torr, Philip Torr, "Real-time depth processing for embedded platforms", Proc. SPIE 10223, Real-Time Image and Video Processing 2017, 102230N (1 May 2017); doi: 10.1117/12.2272504; https://doi.org/10.1117/12.2272504
PROCEEDINGS
11 PAGES


SHARE
RELATED CONTENT

Super-resolved all-refocused image with a plenoptic camera
Proceedings of SPIE (December 13 2015)
Ghost removing for HDR real-time video stream generation
Proceedings of SPIE (April 28 2016)
Real time detection of drones at large distances with 25...
Proceedings of SPIE (October 03 2018)
Application of SRIO in real-time image processing
Proceedings of SPIE (September 16 2018)
Relative stereo 3 D vision sensor and its application for...
Proceedings of SPIE (October 07 2007)

Back to Top