Real-Time Stereo Vision on FPGAs with SceneScan
This provides a low-power, high-performance stereo vision solution for applications like robotics or autonomous systems, though it is incremental as it builds on existing SGM methods.
The paper tackles real-time stereo vision by implementing a flexible FPGA system that processes up to 100 fps or 3.4 megapixel resolutions with only 8 W power, using a Semi-Global Matching variation and post-processing to improve results.
We present a flexible FPGA stereo vision implementation that is capable of processing up to 100 frames per second or image resolutions up to 3.4 megapixels, while consuming only 8 W of power. The implementation uses a variation of the Semi-Global Matching (SGM) algorithm, which provides superior results compared to many simpler approaches. The stereo matching results are improved significantly through a post-processing chain that operates on the computed cost cube and the disparity map. With this implementation we have created two stand-alone hardware systems for stereo vision, called SceneScan and SceneScan Pro. Both systems have been developed to market maturity and are available from Nerian Vision GmbH.