?t?s?a ???es? ????d??

1
Ste?e?s??p??? S?st?µata ??as??
Ge???????? ???st?? ???ast???? ??e?t??????? /
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Ste?e?s??p??? ??as?

• ?? e????e? pe??????? d?sd??stat? p????f???a 2-D ,
  (x,y)
• 3? d??stas? ????? (Depth or Range) ?d??e? st??
  s??µat?sµ? t??sd??stat?? a?apa??stas??, (x,y,z)
• ? ?p?????sµ?? t?? ap?stas?? e??? t??a??? s?µe???
  se s??s? µe t?? ??s? µ?a? ??µe?a? ap?te?e? ??a
  ap? ta s?µa?t??? ?a?????ta e??? s?st?µat?? ??as??
  ???a??? (Machine Vision System)

Ge???????? ???st?? ???ast???? ??e?t??????? /
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Ste?e?s??p??? ??as?

• ?e?????? ?p?????sµ?? ??????
• Stereo Vision ??? ??µe?e? t?p??et?µ??e? ?at?
  ???st? ap?stas? (baseline) ? µ?a ap? t?? ????.
• - ?????? a???? ????? ß????? Triangulation
• - ? f?te???t?ta t?? e?????? ???s?µ?p??e?ta? ??a
  t?? e?a???? ß?????
• ??? ?? pe??ss?te?e? e????e? ap? ?????µe?? ??µe?a.
• Range Images f(ap?stas? ap? s??s??) t?µ? t??
  pixel
• - ?????? a???? ????? ß????? Radar ?a?
  Triangulation
• - Range e????e? ???s?µ?p?????ta? ??a t?? e?a????
  ß?????.

Ge???????? ???st?? ???ast???? ??e?t??????? /
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???????sµ??

• ? t??????sµ?? ep?t??pe? µ?t??s? ß?????
• ??? ??µata 1)???es? a?t?st????? s?µe???
  (conjugate pair)
• 2)?p?????sµ?? ß?????
• ?e?????sµ?? Epipolar geometry constraint
  restricts the space of solutions

Scene object point (x,y,z)
?p? ta ?µ??a t?????a PMCl ?a? plLCl x / z xl
/ f (1) ?p? ta ?µ??a t?????a P?Cr ?a?
prRCr x-b / z xr / f (2) ?p? (1) ?a?
(2) Z bf / (xl xr)
P
M
N
Right camera axis
Left camera axis
b
z
Right image plane
Left image plane
Xl
Xr
Focal Length
L
R
pl
pr
f
Cl
Cr
Left camera lens center
Right camera lens center
Ge???????? ???st?? ???ast???? ??e?t??????? /
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Ste?e?s??p??? ??t?st????a

• ? a????e?s? t?? s????? s?µe??? (conjugate pairs)
  se st??e? e????e? ap?te?e? ??a e?a??et???
  e?d?af???? e?e???t??? p??ß??µa ???st? ??
  ???ß??µa a?t?st????s?? (correspondence
  problem).
• ???sµ?? G?a ???e s?µe?? st?? a??ste?? e????a,
  ?a ß?e?e? t? a?t?st???? s?µe?? st?? de??? e????a.
• ?? s?µe?? p?? ?a a?t?st????ste?, ?a p??pe? ?a
  e??a? e??????? d?af??et??? ap? ta ?e?t????? t??,
  a????? p.?. se µ?a ?µ??e?? pe????? f?te???t?t??
  ???e s?µe?? ?a µp????se ?a ap?te?e? ??a? ?a??
  ?p???f??.
• ?at?????? e????? ?a?a?t???st???? ??a ta???asµa
  (matchable features) ?.?. ??µ?? (edges),
  pe?????? (region) ?a? p????f???a ???µat??
  ?a?a?t???st??? ????? ???s?µ?p????e? ??a stereo
  matching
• ?p?pt?s? ???s?? e??? ?p?-set t?? pixels t??
  e????a? ??a ta???asµa e??a? ?t? ?p??????eta? t?
  ß???? µ??? se s?µe?a p?? a????e???ta?
  ?a?a?t???st???. ?? ß???? sta ?p????pa s?µe?a
  ?p??????eta? ?pe?ta ???s?µ?p????ta? te??????
  pa?eµß???? (interpolation)

Ge???????? ???st?? ???ast???? ??e?t??????? /
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Disparity Maps (???te? ??????)

• ?????? (Dense)
• ??a??? (Sparse)

Ge???????? ???st?? ???ast???? ??e?t??????? /
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S?ed?asµ?? ??e?t??????? s?st?µat?? ?p?????sµ??
?a?t?? ß????? se p?a?µat??? ?????
Ge???????? ???st?? ???ast???? ??e?t??????? /
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???p???s? ??e?t??????? s?st?µat?? ?p?????sµ??
?a?t?? ß????? se p?a?µat??? ????? se FPGA
Ge???????? ???st?? ???ast???? ??e?t??????? /
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?a?a?t???st??? ???p???µ???? S?st?µat??
Device Total Combinational Functions Total Registers Total() Total LABs(5) Total pins()
ALTERA EP2S180 84,251 5208 59 (84,307/143,520) 83 (7484/8970) 3 (25/743)
???a?a? 1. ?a?a?t???st??? ???p???s??
?p?peda ???µ???µ??f?a? 80 80 80 80 80
???e??? ?????a? 320x240 640x480 800x600 1024x768 1280x1024
??a?s?a/de?te???ept? 1090 275 176 108 65
???a?a? 2. ?a??t?ta e??d?? s?st?µat??
Ge???????? ???st?? ???ast???? ??e?t??????? /
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?a?a?t???st??? ???p???µ???? ?e??d??
Tsukuba (?p?peda ???µ???µ??f?a?16) Venus (?p?peda ???µ???µ??f?a?20)
????ße?a() ????ße?a()
???te???µe?? ????d?? 44.88 63.48
3 65.75 66.76
4 74.73 72.88
1 75.76 72.87
2 84.75 85.82
???a?a? 3. ????t??? ap?te??sµata se s?????s? µe
???e? µe??d???
Tsukuba (384x288) (?p?peda ???µ???µ??f?a?16) Venus (434x383) (?p?peda ???µ???µ??f?a?20)
??????(ms) ??????(ms)
???te???µe?? ????d?? 1.3 1.97
2 42 109
1 62 156
3 1000 5000
4 6000 13,100
???a?a? 4. ??s?t??? ap?te??sµata se s?????s? µe
???e? µe??d???
Ge???????? ???st?? ???ast???? ??e?t??????? /
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????t??? ?p?te??sµata µe??d??
Ste?e?s??p??? ?e??? e??????
???te? ??????
Acc45
Acc63
Ge???????? ???st?? ???ast???? ??e?t??????? /
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S?ed?asµ?? ??e?t??????? s?st?µat?? asaf???
??????? ??a ?p?????sµ? ?a?t?? ß????? se
p?a?µat??? ?????
Ge???????? ???st?? ???ast???? ??e?t??????? /
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???p???s? ??e?t??????? s?st?µat?? ?p?????sµ??
?a?t?? ß????? se p?a?µat??? ????? se FPGA
Ge???????? ???st?? ???ast???? ??e?t??????? /
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?a?a?t???st??? ???p???µ???? S?st?µat??
Device Total block memory bits Total Registers Total ALUTs() Total LABs(5) Total pins()
Altera EP3SL340H1152C3 lt1 (6,912/ 16,662,528) 15,624 77 (208,940/270,400) 96 (12,914/13,520) 8 (57/744)
???a?a? 5. ?a?a?t???st??? ???p???s??
?p?peda ???µ???µ??f?a? 80 80 80 80 80
???e??? ?????a? 320x240 640x480 800x600 1024x768 1280x1024
??a?s?a/de?te???ept? 1722 439 282 173 104
???a?a? 6. ?a??t?ta e??d?? s?st?µat??
Ge???????? ???st?? ???ast???? ??e?t??????? /
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?a?a?t???st??? ???p???µ???? ?e??d??
Tsukuba (?p?peda ???µ???µ??f?a?16) Venus (?p?peda ???µ???µ??f?a?20)
????ße?a() ????ße?a()
3 65.75 66.76
4 74.73 72.88
1 75.76 72.87
???te???µe?? ????d?? 81.88 82.80
2 84.75 85.82
???a?a? 7. ????t??? ap?te??sµata se s?????s? µe
???e? µe??d???
Tsukuba (384x288) (?p?peda ???µ???µ??f?a?16) Venus (434x383) (?p?peda ???µ???µ??f?a?20)
??????(ms) ??????(ms)
???te???µe?? ????d?? 0.8 1.2
2 42 109
1 62 156
3 1,000 5,000
4 6,000 13,000
???a?a? 8. ??s?t??? ap?te??sµata se s?????s? µe
???e? µe??d???
Ge???????? ???st?? ???ast???? ??e?t??????? /
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????t??? ?p?te??sµata µe??d??
Ste?e?s??p??? ?e??? e??????
???te? ??????



Acc82



Acc83
Ge???????? ???st?? ???ast???? ??e?t??????? /
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??????sa ?a? µe????t??? ??e??a e??ast?????

• ?a?µ???µ?s? ste?e?s??p???? ?efa??? (Stereo
  calibration)
• ??????s? ste?e?s??p???? ?e?µet??a?
• (image rectification)
• ?p?????sµ?? µ???st?? ep?p?d?? a??µ???µ??f?a? se
  p?a?µat??? ?????

Ge???????? ???st?? ???ast???? ??e?t??????? /
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?a?µ???µ?s? ste?e?s??p???? ?efa???
Ge???????? ???st?? ???ast???? ??e?t??????? /
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??????s? ste?e?s??p???? ?e?µet??a?
Original left
Original right
Rectified left
Rectified right
Ge???????? ???st?? ???ast???? ??e?t??????? /
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?p?????sµ?? µ???st?? ep?p?d?? a??µ???µ??f?a? se
p?a?µat??? ?????
?p?????sµ?? µ???st?? p??a??? ep?p?d??
a??µ???µ??f?a?
Ge???????? ???st?? ???ast???? ??e?t??????? /
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??ß?????af?a
1 M. Gong, Y.H. Yang, Fast unambiguous stereo
matching using reliability-based dynamic
programming, IEEE Trans. Pattern Anal. Mach.
Intellig. 27 (6) (2005) 9981003. 2 M. Gong,
Y.H. Yang, Near real-time reliable stereo
matching using programmable graphics hardware,
in Proceedings of IEEE Conference on Computer
Vision and Pattern Recognition, 2005, pp.
924931. 3 O. Veksler, Dense features for
semi-dense stereo correspondence, Int. J.
Comput. Vis. 47 (13) (2002) 247260. 4 O.
Veksler, Extracting Dense Features for Visual
Correspondence with Graph Cuts, in Proceedings
of IEEE Conference on Computer Vision and
Pattern Recognition, 2003, pp. 689694.
Ge???????? ???st?? ???ast???? ??e?t??????? /
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