RASCor: Realtime Associative Stereo Correspondence

This paper presents a hardware implementation solution to a real time stereo matching problem using system of associative relations (SOAR) computational model. SOAR makes use of pair-wise pixel interactions captured as direction of derivatives to determine the underlying structure of associations within an analysis token. SOAR also offers a similarity measure to assess similarity of two such structures of associations. This paper presents a suitable hardware implementation for real-time stereo correspondence using SOAR structural analysis tokens and similarity measure. The cost of hardware implementation using FPGA is presented along with performance improvements from frequency scaling, unit multiplicity and search depth for stereo matching. Real time stereo matching is achieved through hardware unit multiplicity and frequency scaling.