RT-libSGM: FPGA-Oriented Real-Time Stereo Matching System with High Scalability
نویسندگان
چکیده
Stereo depth estimation has become an attractive topic in the computer vision field. Although various algorithms strive to optimize speed and precision of estimation, energy cost a system is also essential metric for embedded system. Among these algorithms, Semi-Global Matching (SGM) been popular choice some real-world applications because its accuracy-and-speed balance. However, power consumption makes it difficult be applied Thus, we propose robust stereo matching system, RT-libSGM, working on Xilinx Field-Programmable Gate Array (FPGA) platforms. The dedicated design each module optimizes entire while ensuring flexibility structure. Through evaluation Zynq FPGA board called M-KUBOS, RT-libSGM achieves state-of-the-art performance with lower consumption. Compared benchmark (libSGM) Tegra X2 GPU, runs more than 2× faster at much cost.
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ژورنال
عنوان ژورنال: IEICE Transactions on Information and Systems
سال: 2023
ISSN: ['0916-8532', '1745-1361']
DOI: https://doi.org/10.1587/transinf.2022edp7131