Real-Time Stereo with Dense Output by a SIMD-Computed Dynamic Programming Algorithm

G Kraft, PP Jonker

    Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

    Abstract

    We present a modified stereo algorithm based on dynamic programming techniques, which outputs a dense disparity map, and its actual implementation on a linear SIMD image processing device with 256 PE, the IMAP-VISION. Our results show the high suit-ability of this algorithm and the parallel hardware for real-time 3D-vision based robot control. Running on the SIMD device, the algorithm guarantees a processing time of less than 100 ms hard for a Region Of Interest of 128 by 128 pixel and a respectively large depth range of 64 disparity levels. The algorithm can be adjusted with ease and fast at the update rate of the input for even higher output rates, when considering lower depth resolution or less ROI width. Keywords: Real-Time Imaging, Stereo Vision, SIMD, Dynamic Programming (DP)
    Original languageUndefined/Unknown
    Title of host publicationPDPTA'02, Proceedings, Vol. III
    EditorsH.R. Arabnia
    Place of PublicationLas Vegas, Nevada, USA
    PublisherCSREA Press
    Pages1031-1036
    Number of pages6
    ISBN (Print)1-892512-89-0
    Publication statusPublished - 2002
    EventInt. Conf. on Parallel and Distributed Processing Techniques and Applications (Las Vegas, Nevada, USA) - Las Vegas, Nevada, USA
    Duration: 24 Jun 200227 Jun 2002

    Publication series

    Name
    PublisherCSREA Press
    Name
    VolumeIII

    Conference

    ConferenceInt. Conf. on Parallel and Distributed Processing Techniques and Applications (Las Vegas, Nevada, USA)
    Period24/06/0227/06/02

    Keywords

    • conference contrib. refereed
    • Conf.proc. > 3 pag

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