An optimized stereo vision implementation for embedded systems: application to RGB and Infra-Red images

Simone Madeo, Riccardo Pelliccia, Claudio Salvadori, Jesus Martinez-del-Rincon, Jean-Christophe Nebel

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Abstract

The aim of this paper is to demonstrate the applicability and the effectiveness of a computationally demanding stereo matching algorithm in different lowcost and low-complexity embedded devices, by focusing on the analysis of timing and image quality performances. Various optimizations have been implemented to allow its deployment on specific hardware architectures while decreasing memory and processing time requirements: (1) reduction of color channel information and resolution for input images, (2) low-level software optimizations such as parallel computation, replacement of function calls or loop unrolling, (3) reduction of redundant data structures and internal data representation. The feasibility of a stereovision system on a low cost platform is evaluated by using standard datasets and images taken from Infra-Red (IR) cameras. Analysis of the resulting disparity map accuracy with respect to a full-size dataset is performed as well as the testing of suboptimal solutions
Original languageEnglish
Number of pages22
JournalJournal of Real-Time Image Processing
Early online date25 Oct 2014
DOIs
Publication statusEarly online date - 25 Oct 2014

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