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Comparative Study of Local SAD and Dynamic Programming for Stereo Processing Using Dedicated Hardware

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Abstract

The processing results of two stereo accelerators implemented in reconfigurable hardware are presented. The first system implements a local method to find correspondences, the sum of absolute differences, while the second uses a global approach based on dynamic programming. The basic design principles of the two systems are presented and the systems are tested using a multitude of reference test benches. The resulting disparity maps are compared in terms of rms error and percentage of bad matches, using both textured and textureless image areas. A stereo head is developed and used with the accelerators, testing their ability in a real-world experiment of map reconstruction in real-time. It is shown that the DP-based accelerator produces the best results in almost all cases and has advantages over traditional hardware implementations based on local SAD correlation.

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Correspondence to John Kalomiros.

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License (https://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Kalomiros, J., Lygouras, J. Comparative Study of Local SAD and Dynamic Programming for Stereo Processing Using Dedicated Hardware. EURASIP J. Adv. Signal Process. 2009, 914186 (2010). https://doi.org/10.1155/2009/914186

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Keywords

  • Test Bench
  • Local Method
  • Hardware Implementation
  • Global Approach
  • Image Area