Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP

Rui Fan; Sicheng Duanmu; Yanan Liu; Yilong Zhu; Jianhao Jiao; Mohammud Junaid Bocus; Yang Yu; Lujia Wang; Ming Liu

doi:10.1007/978-3-030-34995-0_2

Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP

Rui Fan, Sicheng Duanmu, Yanan Liu^*, Yilong Zhu, Jianhao Jiao, Mohammud Junaid Bocus, Yang Yu, Lujia Wang, Ming Liu

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

Abstract

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.

Original language	English
Title of host publication	Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings
Editors	Dimitrios Tzovaras, Dimitrios Giakoumis, Markus Vincze, Antonis Argyros
Publisher	Springer
Pages	13-23
Number of pages	11
ISBN (Print)	9783030349943
DOIs	https://doi.org/10.1007/978-3-030-34995-0_2
Publication status	Published - 2019
Event	12th International Conference on Computer Vision Systems, ICVS 2019 - Thessaloniki, Greece Duration: 23 Sept 2019 → 25 Sept 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11754 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Computer Vision Systems, ICVS 2019
Country/Territory	Greece
City	Thessaloniki
Period	23/09/19 → 25/09/19

Bibliographical note

Publisher Copyright:
© 2019, Springer Nature Switzerland AG.

Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.

Keywords

Autonomous vehicles
Computer binocular vision
DSP

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10.1007/978-3-030-34995-0_2

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Fan, R., Duanmu, S., Liu, Y., Zhu, Y., Jiao, J., Bocus, M. J., Yu, Y., Wang, L., & Liu, M. (2019). Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP. In D. Tzovaras, D. Giakoumis, M. Vincze, & A. Argyros (Eds.), Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings (pp. 13-23). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11754 LNCS). Springer. https://doi.org/10.1007/978-3-030-34995-0_2

Fan, Rui ; Duanmu, Sicheng ; Liu, Yanan et al. / Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP. Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings. editor / Dimitrios Tzovaras ; Dimitrios Giakoumis ; Markus Vincze ; Antonis Argyros. Springer, 2019. pp. 13-23 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP",

abstract = "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.",

keywords = "Autonomous vehicles, Computer binocular vision, DSP",

author = "Rui Fan and Sicheng Duanmu and Yanan Liu and Yilong Zhu and Jianhao Jiao and Bocus, {Mohammud Junaid} and Yang Yu and Lujia Wang and Ming Liu",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.; 12th International Conference on Computer Vision Systems, ICVS 2019 ; Conference date: 23-09-2019 Through 25-09-2019",

year = "2019",

doi = "10.1007/978-3-030-34995-0_2",

language = "English",

isbn = "9783030349943",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer",

pages = "13--23",

editor = "Dimitrios Tzovaras and Dimitrios Giakoumis and Markus Vincze and Antonis Argyros",

booktitle = "Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings",

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Fan, R, Duanmu, S, Liu, Y, Zhu, Y, Jiao, J, Bocus, MJ, Yu, Y, Wang, L & Liu, M 2019, Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP. in D Tzovaras, D Giakoumis, M Vincze & A Argyros (eds), Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11754 LNCS, Springer, pp. 13-23, 12th International Conference on Computer Vision Systems, ICVS 2019, Thessaloniki, Greece, 23/09/19. https://doi.org/10.1007/978-3-030-34995-0_2

Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP. / Fan, Rui; Duanmu, Sicheng; Liu, Yanan et al.
Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings. ed. / Dimitrios Tzovaras; Dimitrios Giakoumis; Markus Vincze; Antonis Argyros. Springer, 2019. p. 13-23 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11754 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP

AU - Fan, Rui

AU - Duanmu, Sicheng

AU - Liu, Yanan

AU - Zhu, Yilong

AU - Jiao, Jianhao

AU - Bocus, Mohammud Junaid

AU - Yu, Yang

AU - Wang, Lujia

AU - Liu, Ming

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Autonomous vehicles

KW - Computer binocular vision

KW - DSP

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DO - 10.1007/978-3-030-34995-0_2

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:85077002198

SN - 9783030349943

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 13

EP - 23

BT - Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings

A2 - Tzovaras, Dimitrios

A2 - Giakoumis, Dimitrios

A2 - Vincze, Markus

A2 - Argyros, Antonis

PB - Springer

T2 - 12th International Conference on Computer Vision Systems, ICVS 2019

Y2 - 23 September 2019 through 25 September 2019

ER -

Fan R, Duanmu S, Liu Y, Zhu Y, Jiao J, Bocus MJ et al. Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP. In Tzovaras D, Giakoumis D, Vincze M, Argyros A, editors, Computer Vision Systems - 12th International Conference, ICVS 2019, Proceedings. Springer. 2019. p. 13-23. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-34995-0_2

Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP

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