Graphics Reference
In-Depth Information
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