Authors
Prathmesh Sawant, Yashwant Temburu, Mandar Datar, Imran Ahmed, Vinayak Shriniwas, Sachin Patkar
Publication date
2020
Conference
Computer Vision, Pattern Recognition, Image Processing, and Graphics: 7th National Conference, NCVPRIPG 2019, Hubballi, India, December 22–24, 2019, Revised Selected Papers 7
Pages
14-31
Publisher
Springer Singapore
Description
Depth-map is the key computation in computer vision and robotics. One of the most popular approach is via computation of disparity-map of images obtained from Stereo Camera. Semi Global Matching (SGM) method is a popular choice for good accuracy with reasonable computation time. To use such compute-intensive algorithms for real-time applications such as for autonomous aerial vehicles, blind Aid, etc. acceleration using GPU, FPGA is necessary. In this paper, we show the design and implementation of a stereo-vision system, which is based on FPGA-implementation of More Global Matching (MGM) [7]. MGM is a variant of SGM. We use 4 paths but store a single cumulative cost value for a corresponding pixel. Our stereo-vision prototype uses Zedboard containing an ARM-based Zynq-SoC [10], ZED-stereo-camera/ELP stereo-camera/Intel RealSense D435i, and VGA for visualization. The power …
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Scholar articles
P Sawant, Y Temburu, M Datar, I Ahmed, V Shriniwas… - … Vision, Pattern Recognition, Image Processing, and …, 2020