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

G Kraft; PP Jonker

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

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-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 language	Undefined/Unknown
Title of host publication	PDPTA'02, Proceedings, Vol. III
Editors	H.R. Arabnia
Place of Publication	Las Vegas, Nevada, USA
Publisher	CSREA Press
Pages	1031-1036
Number of pages	6
ISBN (Print)	1-892512-89-0
Publication status	Published - 2002
Event	Int. Conf. on Parallel and Distributed Processing Techniques and Applications (Las Vegas, Nevada, USA) - Las Vegas, Nevada, USA Duration: 24 Jun 2002 → 27 Jun 2002

Publication series

Name
Publisher	CSREA Press

Name
Volume	III

Conference

Conference	Int. Conf. on Parallel and Distributed Processing Techniques and Applications (Las Vegas, Nevada, USA)
Period	24/06/02 → 27/06/02

Bibliographical note

phpub 85

Keywords

conference contrib. refereed
Conf.proc. > 3 pag

Cite this

@inproceedings{8a52dff8366442c4a1e1cb1ac7e629ad,

title = "Real-Time Stereo with Dense Output by a SIMD-Computed Dynamic Programming Algorithm",

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)",

keywords = "conference contrib. refereed, Conf.proc. > 3 pag",

author = "G Kraft and PP Jonker",

note = "phpub 85; Int. Conf. on Parallel and Distributed Processing Techniques and Applications (Las Vegas, Nevada, USA) ; Conference date: 24-06-2002 Through 27-06-2002",

year = "2002",

language = "Undefined/Unknown",

isbn = "1-892512-89-0",

publisher = "CSREA Press",

pages = "1031--1036",

editor = "H.R. Arabnia",

booktitle = "PDPTA'02, Proceedings, Vol. III",

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TY - GEN

T1 - Real-Time Stereo with Dense Output by a SIMD-Computed Dynamic Programming Algorithm

AU - Kraft, G

AU - Jonker, PP

N1 - phpub 85

PY - 2002

Y1 - 2002

N2 - 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)

AB - 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)

KW - conference contrib. refereed

KW - Conf.proc. > 3 pag

UR - http://www.ph.tn.tudelft.nl/People/albert/papers/pdpta02.pdf

M3 - Conference contribution

SN - 1-892512-89-0

SP - 1031

EP - 1036

BT - PDPTA'02, Proceedings, Vol. III

A2 - Arabnia, H.R.

PB - CSREA Press

CY - Las Vegas, Nevada, USA

T2 - Int. Conf. on Parallel and Distributed Processing Techniques and Applications (Las Vegas, Nevada, USA)

Y2 - 24 June 2002 through 27 June 2002

ER -

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

Abstract

Publication series

Conference

Bibliographical note

Keywords

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Cite this