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2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (2008)
Anchorage, AK, USA
June 23, 2008 to June 28, 2008
ISBN: 978-1-4244-2339-2
pp: 1-8
Siddhant Ahuja , Computer Vision and Sensing Systems Laboratory, E.C.E. Department, University of Windsor, Canada
Bahador Khaleghi , Computer Vision and Sensing Systems Laboratory, E.C.E. Department, University of Windsor, Canada
Q. M. Jonathan Wu , Computer Vision and Sensing Systems Laboratory, E.C.E. Department, University of Windsor, Canada
ABSTRACT
In this paper we describe a fully integrated, real-time, miniaturized embedded stereo vision system (MESVS-II), which fits within 5×5cm and consumes very low power. This is a significant improvement over the original MESVS-I system in terms of performance, quality and accuracy of results. MESVS-II running at 600MHz per core, is capable of operating at up to 20 fps, which is twice as fast as MESVS-I, due to the efficient implementation of stereo-vision algorithms, improved memory and data management, in-place processing scheme, code optimization, and the pipelined-programming model that takes advantage of the dual-core architecture of the embedded processor. The firmware incorporates sub-sampling, rectification, pre-processing, matching, LRC (Left/Right Consistency) check and post-processing. As demonstrated by our experimental results, we have also enhanced the robustness of the stereo-matching engine to radiometric variations by choosing census transform over rank transform.
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CITATION
Siddhant Ahuja, Bahador Khaleghi, Q. M. Jonathan Wu, "An improved real-time miniaturized embedded stereo vision system (MESVS-II)", 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, vol. 00, no. , pp. 1-8, 2008, doi:10.1109/CVPRW.2008.4563144
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