In recent years, computer binocular vision has been commonly utilized to provide depth information for autonomous vehicles. This paper presents an efficient binocular vision system implemented on an SoC TMS320C6678 DSP for real-time depth information extrapolation, where the search range propagates from the bottom of an image to its top. To further improve the stereo matching efficiency, the cost function is factorized into five independent parts. The value of each part is pre-calculated and stored in the DSP memory for direct data indexing. The experimental results illustrate that the proposed algorithm performs in real time, when processing the KITTI stereo datasets with eight cores in parallel.
|Title of host publication||Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings|
|Editors||Dimitrios Tzovaras, Dimitrios Giakoumis, Markus Vincze, Antonis Argyros|
|Number of pages||11|
|Publication status||Published - 2019|
|Event||12th International Conference on Computer Vision Systems, ICVS 2019 - Thessaloniki, Greece|
Duration: 23 Sept 2019 → 25 Sept 2019
|Name||Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)|
|Conference||12th International Conference on Computer Vision Systems, ICVS 2019|
|Period||23/09/19 → 25/09/19|
Bibliographical notePublisher Copyright:
© 2019, Springer Nature Switzerland AG.
Copyright 2019 Elsevier B.V., All rights reserved.
- Autonomous vehicles
- Computer binocular vision