Title :
A miniature stereo vision machine (MSVM-III) for dense disparity mapping
Author :
Jia, Yunde ; Zhang, Xiaoxun ; Li, Mingxiang ; An, Luping
Author_Institution :
Dept. of Comput. Sci. & Eng., Beijing Inst. of Technol., China
Abstract :
We have developed a miniature stereo vision machine (MSVM-III) with three cameras for generating high-resolution dense disparity maps at the video rate. The MSVM-III uses only one FPGA chip to compactly compute trinocular rectification, LoG filtering, and area-based matching. The machine, running at 60 MHz, could process more than 30 fps dense disparity maps with 640×480 pixels in 64-pixel disparity search range, and 120 fps with 320×240 pixels. Moreover, the MSVM-III has an IEEE 1394 port to a host at the video rate, an interface port to LCD as a miniature 3D imager, and a user board for controlling small mobile robot or other autonomous systems.
Keywords :
field programmable gate arrays; image matching; mobile robots; stereo image processing; video cameras; visual perception; 60 MHz; FPGA chip; IEEE 1394 port; LCD; LoG filtering; area based matching; autonomous systems; cameras; high resolution dense disparity maps; interface port; miniature 3D imager; miniature stereo vision machine; mobile robot control; trinocular rectification; Cameras; Computer architecture; Concurrent computing; Digital signal processing; Field programmable gate arrays; Filtering; Iterative algorithms; Magnetic heads; Mobile robots; Stereo vision;
Conference_Titel :
Pattern Recognition, 2004. ICPR 2004. Proceedings of the 17th International Conference on
Print_ISBN :
0-7695-2128-2
DOI :
10.1109/ICPR.2004.1334290