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2019 | OriginalPaper | Chapter

Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP

Authors : Rui Fan, Sicheng Duanmu, Yanan Liu, Yilong Zhu, Jianhao Jiao, Mohammud Junaid Bocus, Yang Yu, Lujia Wang, Ming Liu

Published in: Computer Vision Systems

Publisher: Springer International Publishing

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Abstract

In recent years, computer binocular vision has been commonly utilized to provide depth information for autonomous vehicles. This paper presents an efficient binocular vision system implemented on an SoC TMS320C6678 DSP for real-time depth information extrapolation, where the search range propagates from the bottom of an image to its top. To further improve the stereo matching efficiency, the cost function is factorized into five independent parts. The value of each part is pre-calculated and stored in the DSP memory for direct data indexing. The experimental results illustrate that the proposed algorithm performs in real time, when processing the KITTI stereo datasets with eight cores in parallel.

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Title: Real-Time Binocular Vision Implementation on an SoC TMS320C6678 DSP
Authors: Rui Fan
Sicheng Duanmu
Yanan Liu
Yilong Zhu
Jianhao Jiao
Mohammud Junaid Bocus
Yang Yu
Lujia Wang
Ming Liu
Publisher: Springer International Publishing
Book: Computer Vision Systems
Print ISBN: 978-3-030-34994-3

Electronic ISBN: 978-3-030-34995-0

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-030-34995-0_2

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