Five-Direction Occlusion Filling with Five Layer Parallel Two-Stage Pipeline for Stereo Matching with Sub-Pixel Disparity Map Estimation

Ma，Yunhao; Fang，Xiwei; Guan，Xinyu; Li，Ke; Chen，Lei; An，Fengwei

2022-11-01

10.3390/s22228605

SENSORS   Impact Factor & Quartile

1424-8220

1424-8220

Binocular stereoscopic matching is an essential method in computer vision, imitating human binocular technology to obtain distance information. Among plentiful stereo matching algorithms, Semi-Global Matching (SGM) is recognized as one of the most popular vision algorithms due to its relatively low power consumption and high accuracy, resulting in many excellent SGM-based hardware accelerators. However, vision algorithms, including SGM, are still somewhat inaccurate in actual long-range applications. Therefore, this paper proposes a disparity improvement strategy based on subpixel interpolation and disparity optimization post-processing using an area optimization strategy, hardware-friendly divider, split look-up table, and the clock alignment multi-directional disparity occlusion filling, and depth acquisition based on floating-point operations. The hardware architecture based on optimization algorithms is on the Stratix-IV platform. It consumes about 5.6 K LUTs, 12.8 K registers, and 2.5 M bits of on-chip memory. Meanwhile, the non-occlusion error rate of only 4.61% is about 1% better than the state-of-the-art works in the KITTI2015 dataset. The maximum working frequency can reach up to 98.28 MHz for the 640 × 480 resolution video and 128 disparity range with the power dissipation of 1.459 W and 320 frames per second processing speed.

disparity refinement FPGA multi-direction occlusion filling semi-global matching single precision floating point subpixel interpolation

SCI

English

First ; Corresponding

Science, Technology and Innovation Commission of Shenzhen Municipality[JSGG20200102162401765];Science, Technology and Innovation Commission of Shenzhen Municipality[K2021390006];Science, Technology and Innovation Commission of Shenzhen Municipality[K2021390007];

Chemistry ; Engineering ; Instruments & Instrumentation

Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation

WOS:000887660400001

MDPI

CHEMISTRY

2-s2.0-85142757473

Scopus

School of Microelectronics,Southern University of Science and Technology,Shenzhen,518055,China

Ma，Yunhao,Fang，Xiwei,Guan，Xinyu,et al. Five-Direction Occlusion Filling with Five Layer Parallel Two-Stage Pipeline for Stereo Matching with Sub-Pixel Disparity Map Estimation[J]. SENSORS,2022,22(22).

Ma，Yunhao,Fang，Xiwei,Guan，Xinyu,Li，Ke,Chen，Lei,&An，Fengwei.(2022).Five-Direction Occlusion Filling with Five Layer Parallel Two-Stage Pipeline for Stereo Matching with Sub-Pixel Disparity Map Estimation.SENSORS,22(22).

Ma，Yunhao,et al."Five-Direction Occlusion Filling with Five Layer Parallel Two-Stage Pipeline for Stereo Matching with Sub-Pixel Disparity Map Estimation".SENSORS 22.22(2022).