Salmon: Precise 3D Contours in Real Time

Even in state-of-the-art processors, real-time processing of stereo pairs to generate useful scene information is too computationally intensive to process high resolution images and the large disparity ranges necessary for precise depth information. We have implemented the symmetric dynamic programming stereo (SPDS) algorithm in reconfigurable hardware which is able to generate disparity and occlusion maps from one megapixel images in real-time (30fps). Here, we describe an algorithm for contour map generation which uses the occlusion and disparity maps to rapidly produce contour maps which outline objects in the image.