単一蓄積型セミグローバルマッチングによるリアルタイム深度処理
Single Storage Semi-Global Matching for Real Time Depth Processing
FPGA上でMGM（SGMの変種）を実装し、各画素の累積コストを1つだけ保持する4パス構成でステレオ視差マップをリアルタイム生成するシステムを構築した。消費電力0.72Wで10.5fpsを達成。
著者: Prathmesh Sawant, Yashwant Temburu, Mandar Datar, Imran Ahmed, Vinayak Shriniwas, Sachin Patkar
分類: cs.CV, cs.AR, cs.RO
原文アブストラクト
Depth-map is the key computation in computer vision and robotics. One of the most popular approach is via computation of disparity-map of images obtained from Stereo Camera. Semi Global Matching (SGM) method is a popular choice for good accuracy with reasonable computation time. To use such compute-intensive algorithms for real-time applications such as for autonomous aerial vehicles, blind Aid, etc. acceleration using GPU, FPGA is necessary. In this paper, we show the design and implementation of a stereo-vision system, which is based on FPGA-implementation of More Global Matching(MGM). MGM is a variant of SGM. We use 4 paths but store a single cumulative cost value for a corresponding pixel. Our stereo-vision prototype uses Zedboard containing an ARM-based Zynq-SoC, ZED-stereo-camera / ELP stereo-camera / Intel RealSense D435i, and VGA for visualization. The power consumption attributed to the custom FPGA-based acceleration of disparity map computation required for depth-map is just 0.72 watt. The update rate of the disparity map is realistic 10.5 fps.
関連論文
- FP-Stereo：組込み向けハードウェア効率の高いステレオビジョンステレオビジョン/FPGA
