tailieunhanh - Báo cáo hóa học: "Research Article Comparative Study of Local SAD and Dynamic Programming for Stereo Processing Using Dedicated Hardware"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Research Article Comparative Study of Local SAD and Dynamic Programming for Stereo Processing Using Dedicated Hardware | Hindawi Publishing Corporation EURASIP Journal on Advances in Signal Processing Volume 2009 Article ID914186 18 pages doi 2009 914186 Research Article Comparative Study of Local SAD and Dynamic Programming for Stereo Processing Using Dedicated Hardware John Kalomiros1 and John Lygouras2 department ofInformatics and Communications Technological Educational Institute of Serres Terma Magnisias 62124 Serres Greece 2 Section of Electronics and Information Systems Technology Department of Electrical Engineering Computer Engineering School of Engineering Democritus University of Thrace 67100 Xanthi Greece Correspondence should be addressed to John Kalomiros ikalom@ Received 13 July 2009 Revised 2 October 2009 Accepted 30 November 2009 Recommended by Liang-Gee Chen The processing results of two stereo accelerators implemented in reconfigurable hardware are presented. The first system implements a local method to find correspondences the sum of absolute differences while the second uses a global approach based on dynamic programming. The basic design principles of the two systems are presented and the systems are tested using a multitude of reference test benches. The resulting disparity maps are compared in terms of rms error and percentage of bad matches using both textured and textureless image areas. A stereo head is developed and used with the accelerators testing their ability in a real-world experiment of map reconstruction in real-time. It is shown that the DP-based accelerator produces the best results in almost all cases and has advantages over traditional hardware implementations based on local SAD correlation. Copyright 2009 J. Kalomiros and J. Lygouras. This is an open access article distributed underthe Creative Commons Attribution License which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. 1. Introduction Real-time stereo vision is used in robot navigation object recognition