Real-Time Semi-Global Matching on the CPU
Among the top-performing stereo algorithms on theMiddlebury
Stereo Database, Semi-Global Matching (SGM) is
commonly regarded as the most efficient algorithm. Consequently,
real-time implementations of the algorithm for
graphics hardware (GPU) and reconfigurable hardware
(FPGA) exist. However, the computation time on general
purpose PCs is still more than a second.
In this paper, a real-time SGM implementation on a general
purpose PC is introduced. Parallelization and image
subsampling is used while ensuring the full disparity resolution
for small disparities.
This approach is especially beneficial for robotic and
driver assistance systems. The system is able to compute
640x320 image pairs at more than 14Hz, leaving also computational
resources for subsequent processing such as free
space computation or object detection. The algorithmic approach
is portable to multi-core embedded processors.
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