Low-Cost Stereo Vision on an FPGA
Chris Murphy, Daniel Lindquist, Ann Marie Rynning, T. Cecil, Sarah Leavitt, Mark L. Chang · 2007
We present a low-cost stereo vision implementation suitable for use in autonomous vehicle applications and designed with agricultural applications in mind. This implementation utilizes the Census transform algorithm to calculate depth maps from a stereo pair of automotive-grade CMOS cameras. The final prototype utilizes commodity hardware, including a Xilinx Spartan-3 FPGA, to process 320times240 pixel images at greater than 150 frames per second and deliver them via a USB 2.0 interface.