Adaptive Census Transform: A novel hardware-oriented stereovision algorithm |
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| Authors: | Stefania Perri Pasquale Corsonello Giuseppe Cocorullo |
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| Affiliation: | 1. LORIA, UMR CNRS 7503, Université de Lorraine, CNRS, INRIA project-team Magrit; Campus Scientifique, BP 239, 54506 Vand?uvre-lès-Nancy Cedex, France;2. Institut Pascal, UMR CNRS 6602, Université Blaise Pascal, CNRS; BP 10448, 63000 Clermont-Ferrand, France;1. School of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, China;2. State Key Laboratory of Acoustics, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China;3. School of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an 710049, China;1. Institute of Materials Science, Kaunas University of Technology, Savanoriu 271, LT-50131 Kaunas, Lithuania;2. Kaunas University of Technology, Panevezys Institute, Department of Electrical Engineering, Daukanto 12, LT-35212 Panev??ys, Lithuania |
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| Abstract: | This paper presents a new hardware-oriented approach for the extraction of disparity maps from stereo images. The proposed method is based on the herein named Adaptive Census Transform that exploits adaptive support weights during the image transformation; the adaptively weighted sum of SADs is then used as the dissimilarity metric. Quality tests show that the proposed method reaches significantly better accuracy than alternative hardware-oriented approaches. To demonstrate the practical hardware feasibility, a specific architecture has been designed and its implementation has been carried out using a single FPGA chip. Such a VLSI implementation allows a frame rate up to 68 fps to be reached for 640 × 480 stereo images, using just 80,000 slices and 32 RAM blocks of a Virtex6 chip. |
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