A real-time fuzzy hardware structure for disparity map computation |
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Authors: | Christos Georgoulas Ioannis Andreadis |
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Affiliation: | (1) Laboratory of Electronics, Department of Electrical and Computer Engineering, Democritus University of Thrace, 67 100 Xanthi, Greece |
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Abstract: | Stereo images acquired by a stereo camera setup provide depth estimation of a scene. Numerous machine vision applications
deal with retrieval of 3D information. Disparity map recovery from a stereo image pair involves computationally complex algorithms.
Previous methods of disparity map computation are mainly restricted to software-based techniques on general-purpose architectures,
presenting relatively high execution time. In this paper, a new hardware-implemented real-time disparity map computation module
is realized. This enables a hardware-based fuzzy inference system parallel-pipelined design, for the overall module, implemented
on a single FPGA device with a typical operating frequency of 138 MHz. This provides accurate disparity map computation at
a rate of nearly 440 frames per second, given a stereo image pair with a disparity range of 80 pixels and 640 × 480 pixels
spatial resolution. The proposed method allows a fast disparity map computational module to be built, enabling a suitable
module for real-time stereo vision applications. |
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