by Hermann, S and Klette, R
Abstract:
The paper considers semi-global stereo matching in the context of vision-based driver assistance systems. The need for real-time performance in this field requires a design change of the originally proposed method to run on current hardware. This paper proposes such a new design; the novel strategy first generates a disparity map from half-resolution input images. The result is then used as prior to restrict the disparity search space for full-resolution computation. This approach is compared to an SGM strategy as employed currently in a state-of-the-art real-time FPGA solution. Furthermore, trinocular stereo evaluation is performed on ten real-world traffic sequences with a total of 4,000 trinocular frames. An extension to the original evaluation methodology is proposed to resolve ambiguities and to incorporate disparity density in a statistically meaningful way. Evaluation results indicate that the novel SGM method is up to 40% faster when compared to the previous strategy. It returns denser disparity maps, and is also more accurate on evaluated traffic scenes. © 2011 Springer-Verlag.
Reference:
Evaluation of a new coarse-to-fine strategy for fast semi-global stereo matching (Hermann, S and Klette, R), In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), volume 7087 LNCS, 2011.
Bibtex Entry:
@inproceedings{hermann2011evaluationmatching,
author = "Hermann, S and Klette, R",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "395--406",
title = "Evaluation of a new coarse-to-fine strategy for fast semi-global stereo matching",
volume = "7087 LNCS",
year = "2011",
abstract = "The paper considers semi-global stereo matching in the context of vision-based driver assistance systems. The need for real-time performance in this field requires a design change of the originally proposed method to run on current hardware. This paper proposes such a new design; the novel strategy first generates a disparity map from half-resolution input images. The result is then used as prior to restrict the disparity search space for full-resolution computation. This approach is compared to an SGM strategy as employed currently in a state-of-the-art real-time FPGA solution. Furthermore, trinocular stereo evaluation is performed on ten real-world traffic sequences with a total of 4,000 trinocular frames. An extension to the original evaluation methodology is proposed to resolve ambiguities and to incorporate disparity density in a statistically meaningful way. Evaluation results indicate that the novel SGM method is up to 40% faster when compared to the previous strategy. It returns denser disparity maps, and is also more accurate on evaluated traffic scenes. © 2011 Springer-Verlag.",
doi = "10.1007/978-3-642-25367-6_35",
isbn = "9783642253669",
issn = "0302-9743",
eissn = "1611-3349",
issue = "PART1",
keyword = "coarse-to-fine stereo",
keyword = "driver assistance systems",
keyword = "Semi-global matching",
language = "eng",
}