Real-Time FPGA-Based Binocular Stereo Vision System with Semi-Global Matching Algorithm

Chen，Zhuoyu1; Dong，Pingchen1; Li，Zhuoao1; Yao，Ruoheng1; Ma，Yunhao1; Fang，Xiwei1; Deng，Huanshihong1; Zhang，Wenyue1; Chen，Lei1; An，Fengwei1,2

10.1109/SOCC52499.2021.9739626

2021

34th IEEE International System-on-Chip Conference (IEEE SOCC)

2164-1676

2164-1706

978-1-6654-2932-0

International System on Chip Conference

2021-September

158-163

14-17 Sept. 2021

Las Vegas, NV, USA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Binocular stereo vision, which is an attractive topic in the computer vision area, mainly focuses on extracting depth information through a stereo matching algorithm. The semi-global matching algorithm (SGM) is well-studied but is hard to be applied in real-time because of the high computational cost. In this work, we report an FPGA-based stereo vision system for the SGM. The system contains a camera controller, a module for image rectification, and the SGM accelerator. The SGM accelerator module can extract the depth information with very high speed by a parallel pixel-level pipeline architecture. The left-right check module further ensures the quality of the disparity map. We implement the system on the Stratix-V platform with a 14.9% error rate and it consumes about 58K LUTs, 59K registers, and 5.2M bits of on-chip memory. The maximum working frequency can reach up to 135.96 MHz for the XGA (1024×768) video and 128 disparity range with the power dissipation of 4.302 W and the processing speed of 173 XGA-frames per second.

Binocular Stereo vision FPGA Hardware implementation Real-time Semi-global matching

第一 ; 通讯

英语

CPCI-S ; EI

Computer Science ; Engineering

Computer Science, Hardware & Architecture ; Engineering, Electrical & Electronic

WOS:000814696000030

20221511952139

Computer vision ; Stereo image processing ; Stereo vision

Logic Elements:721.2 ; Data Processing and Image Processing:723.2 ; Computer Applications:723.5 ; Vision:741.2

2-s2.0-85127812050

Scopus

1.Southern University of Science and Technology,School of Microelectronics,China
2.Eng. Res. Center of Integrated Circuits for Next-Generation Communications,Ministry of Education,Southern University of Science and Technology,China

Chen，Zhuoyu,Dong，Pingchen,Li，Zhuoao,et al. Real-Time FPGA-Based Binocular Stereo Vision System with Semi-Global Matching Algorithm[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:158-163.