Embedded Real time Stereo Estimation via Semi Global Matching on the GPU
Dense, robust and real time computation of depth information from stereo camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real time system producing reliable disparity estimation results on the new embedded energy efficient GPU devices. Our design runs on a Tegra X1 at 42 frames per second (fps) for an image size of 640480, 128 disparity levels, and using 4 path directions for the SGM method.
ICCS