An optimized Silicon Retina stereo matching algorithm using time-space correlation

This paper presents an optimized implementation of a Silicon Retina based stereo matching algorithm using time-space correlation. The algorithm combines an event-based time correlation approach with a census transform based matching method on grayscale images that are generated from the sensor output. The data processing part of the system is optimized for an Intel i7 mobile architecture and a C64x+ multi-core digital signal processor (DSP). Both platforms use an additional C64x+ single-core DSP system for acquisition and pre-processing of sensor data. We focus on the performance optimization techniques that had a major impact on the run-time performance of both processor architectures used.