FPGA-based real-time disparity computation and object location

• Type: Article in International Conference Proceedings Book
• Date: 2010

Authors

Santos, PM (Author) Other; João Canas Ferreira (Author) FEUP

Conference proceedings International

Title: 28th Norchip Conference, NORCHIP 2010

Pages: 1-4

28th Norchip Conference, NORCHIP 2010

Tampere, 15 November 2010 through 16 November 2010

Indexing

Scopus - 3 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Computer engineering ; Technological sciences > Engineering > Electronic engineering

Other information

Authenticus ID: P-007-X3A

DOI: 10.1109/norchip.2010.5669468

Abstract (EN): This paper describes an FPGA-based system capable of computing the distance of objects in a scene to two stereo cameras, and use that information to isolate objects in the foreground. For this purpose, four disparity maps are generated in real time, according to different similarity metrics and sweep directions, and then merged into a single foreground-versus-background bitmap. Our main contribution is a custom-built hardware architecture for the disparity map calculation, and an optional post-processing stage that coarsens the output to improve resilience against spurious results. The system was described in Verilog, and a prototype implemented on a Xilinx Virtex-II Pro FPGA proved capable of processing 640x480 black-and-white images at a maximum frame rate of 40 fps, using 3x3 matching windows and detecting disparities of up to 135 pixels. ©2010 IEEE.

Language: English

Type (Professor's evaluation): Scientific