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Sensors 2013, 13(3), 3014-3027; doi:10.3390/s130303014
Article

SAD-Based Stereo Vision Machine on a System-on-Programmable-Chip (SoPC)

1,2,*  and 1
Received: 20 December 2012; in revised form: 29 January 2013 / Accepted: 26 February 2013 / Published: 4 March 2013
(This article belongs to the Section Physical Sensors)
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Abstract: This paper, proposes a novel solution for a stereo vision machine based on the System-on-Programmable-Chip (SoPC) architecture. The SOPC technology provides great convenience for accessing many hardware devices such as DDRII, SSRAM, Flash, etc., by IP reuse. The system hardware is implemented in a single FPGA chip involving a 32-bit Nios II microprocessor, which is a configurable soft IP core in charge of managing the image buffer and users’ configuration data. The Sum of Absolute Differences (SAD) algorithm is used for dense disparity map computation. The circuits of the algorithmic module are modeled by the Matlab-based DSP Builder. With a set of configuration interfaces, the machine can process many different sizes of stereo pair images. The maximum image size is up to 512 K pixels. This machine is designed to focus on real time stereo vision applications. The stereo vision machine offers good performance and high efficiency in real time. Considering a hardware FPGA clock of 90 MHz, 23 frames of 640 × 480 disparity maps can be obtained in one second with 5 × 5 matching window and maximum 64 disparity pixels.
Keywords: stereo vision; system-on-programmable-chip; FPGA; disparity; SAD stereo vision; system-on-programmable-chip; FPGA; disparity; SAD
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Zhang, X.; Chen, Z. SAD-Based Stereo Vision Machine on a System-on-Programmable-Chip (SoPC). Sensors 2013, 13, 3014-3027.

AMA Style

Zhang X, Chen Z. SAD-Based Stereo Vision Machine on a System-on-Programmable-Chip (SoPC). Sensors. 2013; 13(3):3014-3027.

Chicago/Turabian Style

Zhang, Xiang; Chen, Zhangwei. 2013. "SAD-Based Stereo Vision Machine on a System-on-Programmable-Chip (SoPC)." Sensors 13, no. 3: 3014-3027.


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