Towards accurate hardware stereo correspondence: A real-time FPGA implementation of a segmentation-based adaptive support weight algorithm

摘要

Disparity estimation in stereoscopic vision is a vital step for the extraction of depth information from stereo images. This paper presents the hardware implementation of a disparity estimation system that enables good performance in both accuracy and speed. The architecture implements an adaptive support weight stereo correspondence algorithm, which integrates information obtained from image segmentation, in an attempt to increase the robustness of the matching process. The proposed system integrates optimization techniques that make the algorithm hardware-friendly and suitable for embedded vision systems. A prototype of the architecture was implemented on an FPGA, achieving 30 fps for 640×480 image sizes. The quality of the disparity maps generated by the proposed system is also better than other existing hardware implementations featuring fixed support local correspondence methods.