Hardware principles for the design of a stereo-matching state machine based on dynamic programming
Φόρτωση...
Ημερομηνία
2008
Συγγραφείς
Kalomiros, J. A.
Lygouras, J.
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Εκδότης
Δικαιώματα
Attribution-NonCommercial-NoDerivatives 4.0 Διεθνές
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Παραπομπή
Περίληψη
This paper presents basic design principles for hardware implementation of a two-pass stereo-matching algorithm based on dynamic programming. For the first-pass a state-machine is proposed for the recursive calculation of the cost-function.
The state-machine works along the diagonal of a 2-D disparity space for each epipolar pair of image scan-lines. On-chip local RAM stores tags that denote the minimum transition cost to every point in the disparity space among possible costs from all three neighboring points. All calculations are within a pre-determined useful disparity range. For the second pass, hardware rules are presented that produce the correct disparity per pixel, by backtracking stored cost values. Hardware stages are structured along a fully parallel pipeline, that outputs disparities in step with the input serial pixel stream
at clock rate.