RT-libSGM: An Implementation of a Real-time Stereo Matching System on FPGA

Kaijie Wei, Yuki Kuno, Masatoshi Arai, Hideharu Amano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Stereo depth estimation has become an attractive topic in the computer vision field. Although various algorithms strive to optimize the speed and the precision of estimation, the energy cost of a system is also an essential metric for an embedded system. Among these various algorithms, Semi-Global Matching (SGM) has been a popular choice for some real-world applications because of its accuracy-and-speed balance. However, its power consumption makes it difficult to be applied to an embedded system. Thus, we propose a robust stereo matching system, RT-libSGM, working on the Xilinx Field-programmable gate array (FPGA) platforms. The dedicated design of each module optimizes the speed of the entire system while ensuring the flexibility of the system structure. Through an evaluation running on a Zynq FPGA board called M-KUBOS, RT-libSGM achieves state-of-the-art performance with lower power consumption. Compared with the original design (libSGM), when working on the Tegra X2 GPU, RT-libSGM runs 2 × faster at a lower energy cost.

Original languageEnglish
Title of host publicationProceedings of the 12th International Symposium on Highly Efficient Accelerators and Reconfigurable Technologies, HEART 2022
PublisherAssociation for Computing Machinery
Pages1-9
Number of pages9
ISBN (Electronic)9781450396608
DOIs
Publication statusPublished - 2022 Jun 9
Event12th International Symposium on Highly Efficient Accelerators and Reconfigurable Technologies, HEART 2022 - Virtual, Online, Japan
Duration: 2022 Jun 92022 Jun 10

Publication series

NameACM International Conference Proceeding Series

Conference

Conference12th International Symposium on Highly Efficient Accelerators and Reconfigurable Technologies, HEART 2022
Country/TerritoryJapan
CityVirtual, Online
Period22/6/922/6/10

Keywords

  • Energy efficiency
  • libSGM
  • Real-time
  • Slide window
  • Stereo Matching
  • Vitis HLS

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition
  • Software

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