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Fig. 5.13 To p , 1D scanline optimization along scanline 1— Middle , 1D scanline optimization along
scanline 4— Bottom , result of the SGM algorithm performing multiple 1D scanline optimizations
along the eight paths shown at the left
communications controller as depicted in Fig. 5.2 . Each of these algorithms, as well
as all of the other blocks depicted in the figure, was mapped on a Spartan 6 FPGA 45
and delivers depth maps at 30+ fps when processing stereo pairs at WVGA resolution
as those deployed by our camera.
Specifically, the algorithms currently implemented in our target architecture are:
FW using the optimization strategies previously outlined, a modified version of
the Permeability algorithm [ 5 ] using two paths and a modified version of SGM
[ 13 ] using four paths. Each implementation of these algorithms also includes image
rectification, a prefiltering step based on the x-Sobel filter, and a postprocessing
step aimed at filtering outliers by detecting uniformly textured regions as well as
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