High parallel disparity map computing on FPGA

In this paper we present a method for disparity map computing and its correspondent high parallel hardware accelerator. Our solution considers a two step processing algorithm. First, we compute a one-dimensional biased sum of absolute differences, and later a spurious removal technique is performed to eliminate wrong estimations. The hardware accelerator introduces a memory organization, an address generation scheme and data-path units that have scalable features for several resolutions, frame rates, silicon use, and power consumption instantiations. We have implemented a five stage pipelined organization that operates at 174.5 MHz over an VIRTEX II PRO 2vp30fg676-7 FPGA device, carries out an equivalent of 9.074 GOPS and processes 142 frames per second of Common Intermediate Format (CIF).