GPU-based real-time trinocular stereo vision

Yuanbin Yao; R. J. Linton; Taskin Padir

doi:10.1117/12.2008583

4 February 2013 GPU-based real-time trinocular stereo vision

Yuanbin Yao, R. J. Linton, Taskin Padir

Proceedings Volume 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques; 86620A (2013) https://doi.org/10.1117/12.2008583
Event: IS&T/SPIE Electronic Imaging, 2013, Burlingame, California, United States

Abstract

Most stereovision applications are binocular which uses information from a 2-camera array to perform stereo matching and compute the depth image. Trinocular stereovision with a 3-camera array has been proved to provide higher accuracy in stereo matching which could benefit applications like distance finding, object recognition, and detection. This paper presents a real-time stereovision algorithm implemented on a GPGPU (General-purpose graphics processing unit) using a trinocular stereovision camera array. Algorithm employs a winner-take-all method applied to perform fusion of disparities in different directions following various image processing techniques to obtain the depth information. The goal of the algorithm is to achieve real-time processing speed with the help of a GPGPU involving the use of Open Source Computer Vision Library (OpenCV) in C++ and NVidia CUDA GPGPU Solution. The results are compared in accuracy and speed to verify the improvement.

Citation Download Citation

Yuanbin Yao, R. J. Linton, and Taskin Padir "GPU-based real-time trinocular stereo vision", Proc. SPIE 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, 86620A (4 February 2013); https://doi.org/10.1117/12.2008583

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