Development of a video-rate stereo machine

Abstract

A video-rate stereo machine has been developed at CMU with the capability of generating a dense range map, aligned with an intensity image, at the video rate. The target performance of the CMU video-rate stereo machine is: 1) multi-image input of 6 cameras; 2) high throughput of 30 million point/spl times/disparity measurement per second; 3) high frame rate of 30 frame/sec; 4) a dense depth map of 256/spl times/240 pixels; 5) disparity search range of up to 60 pixels; 6) high precision of up to 7 bits (with interpolation); and 7) uncertainty estimation available for each pixel.