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

Kaijie Wei, Yuki Kuno, Masatoshi Arai, Hideharu Amano

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 12th International Symposium on Highly Efficient Accelerators and Reconfigurable Technologies, HEART 2022
出版社Association for Computing Machinery
ページ1-9
ページ数9
ISBN(電子版)9781450396608
DOI
出版ステータスPublished - 2022 6月 9
イベント12th International Symposium on Highly Efficient Accelerators and Reconfigurable Technologies, HEART 2022 - Virtual, Online, Japan
継続期間: 2022 6月 92022 6月 10

出版物シリーズ

名前ACM International Conference Proceeding Series

Conference

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

ASJC Scopus subject areas

  • ソフトウェア
  • 人間とコンピュータの相互作用
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ ネットワークおよび通信

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