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ReS²tAC—UAV-borne real-time SGM stereo optimized for embedded ARM and CUDA devices

Ruf, B. 1; Mohrs, J.; Weinmann, M. 1; Hinz, S. 1; Beyerer, J. 2
1 Institut für Photogrammetrie und Fernerkundung (IPF), Karlsruher Institut für Technologie (KIT)
2 Karlsruher Institut für Technologie (KIT)


With the emergence of low-cost robotic systems, such as unmanned aerial vehicle, the importance of embedded high-performance image processing has increased. For a long time, FPGAs were the only processing hardware that were capable of high-performance computing, while at the same time preserving a low power consumption, essential for embedded systems. However, the recently increasing availability of embedded GPU-based systems, such as the NVIDIA Jetson series, comprised of an ARM CPU and a NVIDIA Tegra GPU, allows for massively parallel embedded computing on graphics hardware. With this in mind, we propose an approach for real-time embedded stereo processing on ARM and CUDA-enabled devices, which is based on the popular and widely used Semi-Global Matching algorithm. In this, we propose an optimization of the algorithm for embedded CUDA GPUs, by using massively parallel computing, as well as using the NEON intrinsics to optimize the algorithm for vectorized SIMD processing on embedded ARM CPUs. We have evaluated our approach with different configurations on two public stereo benchmark datasets to demonstrate that they can reach an error rate as low as 3.3%. ... mehr

Verlagsausgabe §
DOI: 10.5445/IR/1000133981
Veröffentlicht am 06.08.2021
DOI: 10.3390/s21113938
Zitationen: 8
Web of Science
Zitationen: 8
Zitationen: 10
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Photogrammetrie und Fernerkundung (IPF)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2021
Sprache Englisch
Identifikator ISSN: 1424-8220
KITopen-ID: 1000133981
Erschienen in Sensors
Verlag MDPI
Band 21
Heft 11
Seiten Article: 3938
Bemerkung zur Veröffentlichung Gefördert durch den KIT-Publikationsfonds
Schlagwörter embedded stereo vision; real-time stereo processing; disparity estimation; semi-global matching; GPGPU; SIMD; UAV
Nachgewiesen in Web of Science
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