Real-time stereo within the VIDET project

VIDET is a research project active at the University of Bologna and aimed at the development of a mobility aid for the visually impaired. VIDET's approach consists in the conversion of depth data gathered through a stereo-vision system into a 3D model perceivable by the user by means of a wire-actuated haptic interface. In this paper we describe VIDET's PC-based, real-time, stereo-vision system. As for system's description, we outline the structure of the stereo-matching algorithm and address in more detail the optimization strategies that lead us to a fast PC-based implementation. These involve massive reduction of redundant calculations and use of the parallel multimedia instructions available in current general-purpose microprocessors. We provide experimental results showing that the system is capable of recovering correctly the 3D structure of the observed scene and allows for prompt perception of the depth changes generated by moving objects. We also report execution time measurements and compare our stereo system with the PC-based systems from SRI and Point Grey Research. © 2002 Elsevier Science Ltd. All rights reserved.