Title :
Real-time Architecture of Stereo Vision for Robot Eye
Author :
Kim, YoungSu ; Park, Sungchan ; Chen, Chao ; Jeong, Hong
Author_Institution :
Electron. & Electr. Eng., Pohang Sci. & Technol. Univ.
Abstract :
We present a vision system of high speed rectification and real time stereo matching fit for robots. It has a small hardware architecture so that it can be embedded in a large system at a low cost. It uses the global matching method and the parallel architecture to perform high quality and real time stereo matching. This system is based on a trellis form with a parallel optical axis and composed of pre and main processing modules. We implement the stereo chip on Xilinx FPGA with 60 processing elements that can obtain disparity range of 60 levels
Keywords :
field programmable gate arrays; image matching; parallel architectures; robot vision; stereo image processing; Xilinx FPGA; disparity range; global matching method; parallel architecture; real time stereo matching; robot eye; stereo vision; trellis form; Cameras; Costs; Data mining; Field programmable gate arrays; Machine vision; Network servers; Real time systems; Robot kinematics; Robot vision systems; Stereo vision;
Conference_Titel :
Signal Processing, 2006 8th International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-9736-3
Electronic_ISBN :
0-7803-9736-3
DOI :
10.1109/ICOSP.2006.345491
