Performance evaluation of a census-based stereo matching algorithm on embedded and multi-core hardware

In this paper a performance evaluation of a fast stereo matching algorithm on embedded and multi-core hardware is given. The algorithm is based on the census transform and adapted to the needs of real-time capability and embedded systems. The main focus lies on high frame rates and low memory consumption. On a standard PC with 4 cores a frame rate of 19 fps, on a GPU a frame rate of 39 fps and on a DSP a frame rate of 3.8 fps for 640 times 480 images with a disparity range of 50 was reached.