To realize highly-safe intelligent vehicles, high-speed acquisition of reliable 3D information is essential. A major issue of stereo vision is to establish reliable correspondence between images. This paper presents a reliable stereo-matching algorithm based on SAD (sum of absolute differences) computation. Reliable correspondence can be established by selecting a desirable window size of the SAD computation based on the uniqueness of a minimum of the SAD graph. A pixel-serial and window-parallel architecture is also proposed to achieve 100% utilization of processing elements. The performance of the VLSI processor is evaluated to be more than ten thousand times higher than that of a general-purpose processor.


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    Title :

    Reliable stereo matching for highly-safe intelligent vehicles and its VLSI implementation


    Contributors:
    Hariyama, M. (author) / Takeuchi, T. (author) / Kameyama, M. (author)


    Publication date :

    2000-01-01


    Size :

    424032 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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