一种改进的实时半全局立体匹配算法及硬件实现

在基于现场可编程门阵列的实时立体匹配系统中，Census变换算法针对特定区域的误匹配率较高。为提高匹配精度，提出一种具有高并行性流水线结构的实时半全局立体匹配算法并进行硬件实现。将改进的Tanimoto距离和带权重4方向的梯度绝对值差进行组合，作为新的初始匹配代价。在代价聚合阶段采用4路径并行结构的SGM算法，在视差选择阶段采用赢家通吃策略，在视差校正阶段采用阈值检测算法代替传统左右一致性检验算法。实验结果表明，该算法能够有效提高弱纹理和边缘区域的区分度，减少对中心点的依赖，降低资源占用，其在Middleburry平台上的平均误匹配率仅为7.52%，在Xilinx Zynq-7000平台上的匹配速率达到98 frame/s。

An Improved Real-Time Semi-Global Stereo Matching Algorithm and Its Hardware Implementation

When applied to the real-time stereo matching systems based on Field Programmable Gate Array(FPGA), the Census Transform(CT) algorithm has a high false matching rate in specific areas.In order to improve the matching accuracy, a real-time Semi-Global stereo Matching(SGM) algorithm with highly parallel pipeline structure is proposed.The algorithm takes the combination of the improved Tanimoto distance and the weighted 4-direction Absolute Differences of Gradient(ADG) as the initial matching cost.In the cost aggregation stage, a 4-path SMG algorithm is used.In the disparity computation stage, the winner-takes-all strategy is chosen.Then in the parallax correction stage, the threshold detection algorithm is used to replace the traditional left-right check algorithm. Experimental results show that the proposed algorithm can effectively improve the discrimination between weak texture and edge regions, and reduce the dependence on center point and resource consumption.The average mismatch rate of the algorithm on Middlebury platform is 7.52%, and its matching rate on Xilinx zynq-7000 platform is 98 frame/s.