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 proceedingConference 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 languageEnglish
Title of host publicationComputer Vision Systems - 12th International Conference, ICVS 2019, Proceedings
EditorsDimitrios Tzovaras, Dimitrios Giakoumis, Markus Vincze, Antonis Argyros
PublisherSpringer
Pages13-23
Number of pages11
ISBN (Print)9783030349943
DOIs
Publication statusPublished - 2019
Event12th International Conference on Computer Vision Systems, ICVS 2019 - Thessaloniki, Greece
Duration: 23 Sep 201925 Sep 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11754 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference12th International Conference on Computer Vision Systems, ICVS 2019
CountryGreece
CityThessaloniki
Period23/09/1925/09/19

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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