In this paper we describe the strategy adopted to design, from scratch, an embedded RGBD sensor for accurate and dense depth perception on a low-cost FPGA. This device infers, at more than 30 Hz, dense depth maps according to a state-of-the-art stereo vision processing pipeline entirely mapped into the FPGA without buffering partial results on external memories. The strategy outlined in this paper enables accurate depth computation with a low latency and a simple hardware design. On the other hand, it poses major constraints to the computing structure of the algorithms that fit with this simplified architecture and thus, in this paper, we discuss the solutions devised to overcome these issues. We report experimental results concerned with practical application scenarios in which the proposed RGBD sensor provides accurate and real-time depth sensing suited for the embedded vision domain.
A passive RGBD sensor for accurate and real-time depth sensing self-contained into an FPGA / Mattoccia, Stefano; Poggi, Matteo. - ELETTRONICO. - (2015), pp. 146-151. (Intervento presentato al convegno 9th International Conference on Distributed Smart Cameras, ICDSC 2015 tenutosi a Seville, Spain nel September 8 - 11, 2015) [10.1145/2789116.2789148].
A passive RGBD sensor for accurate and real-time depth sensing self-contained into an FPGA
MATTOCCIA, STEFANO;POGGI, MATTEO
2015
Abstract
In this paper we describe the strategy adopted to design, from scratch, an embedded RGBD sensor for accurate and dense depth perception on a low-cost FPGA. This device infers, at more than 30 Hz, dense depth maps according to a state-of-the-art stereo vision processing pipeline entirely mapped into the FPGA without buffering partial results on external memories. The strategy outlined in this paper enables accurate depth computation with a low latency and a simple hardware design. On the other hand, it poses major constraints to the computing structure of the algorithms that fit with this simplified architecture and thus, in this paper, we discuss the solutions devised to overcome these issues. We report experimental results concerned with practical application scenarios in which the proposed RGBD sensor provides accurate and real-time depth sensing suited for the embedded vision domain.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.