Low-Cost Stereo Vision on an FPGA

Low-Cost Stereo Vision on an FPGA

We present a low-cost stereo vision implementation suitable for use in autonomous vehicle applications and designed with agricultural applications in mind. This implementation utilizes the Census transform algorithm to calculate depth maps from a stereo pair of automotive-grade CMOS cameras. The fin...

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Bibliographische Detailangaben
Hauptverfasser: Murphy, C., Lindquist, D., Rynning, A.M., Cecil, T., Leavitt, S., Chang, M.L.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Cameras
CMOS image sensors
Field programmable gate arrays
Hardware
Mobile robots
Pixel
Prototypes
Remotely operated vehicles
Stereo vision
Universal Serial Bus
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Beschreibung
Zusammenfassung:We present a low-cost stereo vision implementation suitable for use in autonomous vehicle applications and designed with agricultural applications in mind. This implementation utilizes the Census transform algorithm to calculate depth maps from a stereo pair of automotive-grade CMOS cameras. The final prototype utilizes commodity hardware, including a Xilinx Spartan-3 FPGA, to process 320times240 pixel images at greater than 150 frames per second and deliver them via a USB 2.0 interface.
DOI:10.1109/FCCM.2007.44