Implementation of a Stereo Matching algorithm onto a Manycore Embedded System

Stereo Matching techniques aim at reconstructing the disparity maps with a pair of images. The use of Stereo Matching techniques in embedded systems is very challenging due to the complexity of the state of the art algorithms. This paper proposes a real-time Stereo Matching algorithm optimised for the last generation of Manycore Embedded Systems. The features and parameters of the algorithms have been chosen to optimise the trade-off between an high quality and a low complexity. A memory analysis is performed for the algorithm´s decomposition and the resulting mapping on the Manycore platform is provided. Algorithm and arithmetic optimisations have been applied to each part of the algorithm to decrease the execution time down to 160ms for a CIF resolution.