FPGA-based rectification of stereo images

In order to obtain depth perception in computer vision, one needs to process pairs of stereo images. This process is computationally challenging to be carried out in real-time as it requires the search for matches between objects in both images. Such process is significantly simplified if the images are rectified, making the objects horizontally aligned between them. The process of stereo images rectification has different steps with different computational requirements, that are therefore not usually implemented in the same system. These includes 2D searches for high fidelity matches, precise matrix calculations, and fast pixel coordinates' transformations and interpolations. In this project, the complete process is effectively implemented in an Spartan-3 FPGA, taking advantage of a Microblaze softcore for slow but precise calculations, and of the fast dedicated hardware for real-time requirements. The implemented system successfully performs real-time rectification on the images...

• Type: Journal
• Year: 2010
• Where: DASIP
• Authors: Joao G. P. Rodrigues, João Canas Ferreira
• Keywords: DASIP 2010, Image Processing, Images, Precise Matrix Calculations, Stereo Images