NDLI: Real Time Rectification for Stereo Correspondence

Content Provider	IEEE Xplore Digital Library
Author	Jawed, K. Morris, J. Khan, T. Gimelfarb, G.
Copyright Year	2009
Abstract	Duplicating the full dynamic capabilities of the human eye-brain combinationis a difficult task but an important goal because of the wideapplication for a system which can acquire {\it accurate} 3D models of a scene in realtime.Such a system must be able to correct images to remove lens distortionand camera misalignments from high resolution images at video framerates - 30 fps or better. The images then need to be matched todetermine the distance to scene objects. We have constructed a system whichuses reconfigurable hardware (FPGAs) to handle the very large number ofcalculations required and is capable of processing 1 Mpixel imagesfor disparity ranges of $\sim 100$ (allowing $\sim 1\%$ depth accuracy)at 30 fps. This paper focuses on the use of \LUT s in the hardwareto correct images in real time with latencies that are determined more bythe quality of the optics and mechanical alignment than by calculationdemand. Sample results from the full system (which uses the Symmetric Dynamic Programming Stereo matching algorithm) operating at 30 fps are also shown.
Starting Page	277
Ending Page	284
File Size	1015000
Page Count	8
File Format	PDF
ISBN	9781424453344
DOI	10.1109/CSE.2009.473
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Image resolution Humans rectification stereo correspondence Table lookup Delay real-time Layout Cameras Hardware Field programmable gate arrays Lenses
Content Type	Text
Resource Type	Article

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