Algorithm and VLSI Architecture Co-Design on Efficient Semi-Global Stereo Matching

摘要

Semi-global matching (SGM) is favored for high accuracy real-time stereo matching design as it achieves a good trade-off between disparity image quality and computational complexity. Nevertheless, most of previous SGM designs so far are restricted to the real-time processing of small image resolution and disparity range, or achieve high throughput by simplifying the original algorithm at the penalty of significant disparity image quality degradation. We analyze that the major challenge to efficient SGM design is its memory architecture, including both on-chip memory cost and off-chip memory bandwidth. We address the memory architecture challenge by algorithm and architecture co-design. Based on two observed features of SGM algorithm, i.e. incompleteness and inaccuracy, this paper proposes several efficient techniques to reduce on-chip memory cost and compress off-chip memory bandwidth respectively. Moreover, we also design high throughput and pipelined architecture to implement the proposed techniques. The disparity image quality and hardware efficiency of the proposed SGM design are evaluated on both KITTI2015 and Middlebury V3 stereo datasets. Evaluation results demonstrate that, the throughput of the proposed circuit designs can easily achieve 1080P@30fps at the disparity range of 128, and can reduce the on-chip memory cost and off-chip memory bandwidth by up to $4imes $ and $2imes $ respectively while achieving better or the same disparity image quality, compared with the best reference design techniques.