Distributed real-time stereo matching on smart cameras
Christian Zinner, Martin Humenberger · 2010
This work introduces a real-time capable realization of an area-based stereo matching algorithm that is distributed on two embedded smart camera platforms. Combining common industrial smart cameras by this way enables real time stereo vision as a new application domain for these platforms. With the proposed method, the computational load can be shared among the two cameras equipped with a digital signal processor each. This results in an efficient processing of a computational intensive stereo matching algorithm--- the processing speed is significantly faster compared to a single chip solution. Beside that, various optimizations especially developed for digital signal processors additionally increase the performance. On input images of 450×375 and a disparity range of 60, the system achieves a stereo processing performance of 11.8 frames per second. The stereo matching quality is evaluated using the Middlebury stereo database where it is the only purely embedded algorithm.