Low-Cost Stereo Vision on an FPGA

We present a low-cost stereo vision implementation suitable for use in autonomous vehicle applications and designed with agricultural applications in mind. This implementation utilizes the Census Transform algorithm [5, 6] to calculate depth maps from a stereo pair of automotivegrade CMOS cameras. The final prototype utilizes commodity hardware, including a Xilinx Spartan-3 FPGA, to process 320x240 pixel images at greater than 150 frames per second and deliver them via a USB 2.0 interface.

• Type: Conference
• Year: 2007
• Where: FCCM
• Authors: Chris Murphy, Daniel Lindquist, Ann Marie Rynning, Thomas Cecil, Sarah Leavitt, Mark L. Chang
• Keywords: Census Transform Algorithm, FCCM 2007, Prototype Utilizes Commodity, Stereo Vision Implementation, VLSI