Title :
Low-Cost Stereo Vision on an FPGA
Author :
Murphy, Chris ; Lindquist, Daniel ; Rynning, Ann Marie ; Cecil, Thomas ; Leavitt, Sarah ; Chang, Mark L.
Author_Institution :
Franklin W. Olin Coll. of Eng., Franklin
Abstract :
We present a low-cost stereo vision implementation suitable for use in autonomous vehicle applications and designed with agricultural applications in mind. This implementation utilizes the Census transform algorithm to calculate depth maps from a stereo pair of automotive-grade CMOS cameras. The final prototype utilizes commodity hardware, including a Xilinx Spartan-3 FPGA, to process 320times240 pixel images at greater than 150 frames per second and deliver them via a USB 2.0 interface.
Keywords :
CMOS image sensors; agricultural machinery; field programmable gate arrays; remotely operated vehicles; stereo image processing; Census transform algorithm; FPGA; agricultural applications; automotive-grade CMOS cameras; autonomous vehicle applications; depth maps; low-cost stereo vision implementation; CMOS image sensors; Cameras; Field programmable gate arrays; Hardware; Mobile robots; Pixel; Prototypes; Remotely operated vehicles; Stereo vision; Universal Serial Bus;
Conference_Titel :
Field-Programmable Custom Computing Machines, 2007. FCCM 2007. 15th Annual IEEE Symposium on
Conference_Location :
Napa, CA
Print_ISBN :
978-0-7695-2940-0
DOI :
10.1109/FCCM.2007.44
