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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| creator | Murphy, C. Lindquist, D. Rynning, A.M. Cecil, T. Leavitt, S. Chang, M.L. |
| description | 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_str_mv | 10.1109/FCCM.2007.44 |
| format | Conference Proceeding |
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| ispartof | 15th Annual IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM 2007), 2007, p.333-334 |
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| language | eng |
| recordid | cdi_ieee_primary_4297286 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cameras CMOS image sensors Field programmable gate arrays Hardware Mobile robots Pixel Prototypes Remotely operated vehicles Stereo vision Universal Serial Bus |
| title | Low-Cost Stereo Vision on an FPGA |
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