3DV — An embedded, dense stereovision-based depth mapping system

Abstract

This paper describes the architecture and hardware implementation of an embedded, low-cost and low-power dense stereo reconstruction system, running at 30 fps at VGA resolution. The processing pipeline includes an initial image rectification stage, a cost generation unit based on the non-parametric census transform, a state-of-the-art Semi-Global cost optimization stage, and a final minimization and noise suppression step. The hardware implementation is based on a Xilinx Zynq <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">TM</sup> System-on-Chip, which besides the FPGA provides a physical dual-core ARM CPU, which is exploited for control and to deliver output over the integrated Gigabit Ethernet connection.