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- W2288287525 abstract "Stereo vision, analogous to human vision, has a high demand in real-time applications such as object tracking, surveillance, collision avoidance and intelligent robotic arms etc. However, stereo matching is a computationally expensive task and modern day CPUs are inadequate to match high resolution images in real-time. Thus, these real applications require hardware for stereo matching. This thesis describes the Intelligent Vision Processor - a stereo matching system capable of producing high resolution disparity maps in real-time. The system consists of a pair of cameras directly coupled to a field programmable gate array (FPGA) as an attached processor in a host PC. The system captures two views of a scene, corrects for lens distortion and misalignment, computes disparity and occlusion maps and transfers them to the host PC. Rectification is the basic pre-processing: real-time rectification hardware that uses reduced lookup tables for misalignment correction and distortion removal was implemented on an FPGA of the order of 1, 200 logic elements and was able to fit on a small FPGA in 2009. Although stereo matching is a computationally expensive task, Symmetric Dynamic Programming Stereo (SDPS) algorithm has a compact hardware implementation. The matching hardware was able to fit on an FPGA of the order of 142, 500 logic elements. Conventionally, grey scale images are used for stereo matching. Colour and grey scale images were captured in the laboratory and matching performance was significantly better using colour images. Simple and complex scenes were created for these experiments using a simple structured lighting approach. Averging axis stereo configuration was compared to the conventionally used canonical configuration. Two rectification methods (Bouguet's technique and Veith-Muller Circles) that preserve enhanced depth resolution were compared. Experiments showed that the verging axis configuration gives better depth resolution than the canonical configuration. Finally, the disparity maps from the stereo hardware were used for precise tracking, hand gesture recognition and face recognition, to show that the Intelligent Vision Processor can be effectively used in several applications." @default.
- W2288287525 created "2016-06-24" @default.
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- W2288287525 date "2013-01-01" @default.
- W2288287525 modified "2023-09-27" @default.
- W2288287525 title "Intelligent vision processor" @default.
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