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Memory Efficient Semi-Global Matching

Hirschmüller, Heiko und Buder, Maximilian und Ernst, Ines (2012) Memory Efficient Semi-Global Matching. The XXII Congress of the International Society for Photogrammetry and Remote Sensing, 2012-08-25 - 2012-09-01, Melbourne, Australia.

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Offizielle URL: http://www.isprs2012.org/abstract/415.asp

Kurzfassung

Semi-Global Matching (SGM) is a robust stereo method that has proven its usefulness in various applications ranging from aerial image matching to driver assistance systems. It supports pixelwise matching for maintaining sharp object boundaries and fine structures and can be implemented efficiently on different computation hardware. Furthermore, the method is not sensitive to the choice of parameters. The structure of the matching algorithm is well suited to be processed by highly paralleling hardware e.g. FPGAs and GPUs. The drawback of SGM is the temporary memory requirement that depends on the number of pixels and the disparity range. On the one hand this results in long idle times due to the bandwidth limitations of the external memory and on the other hand the capacity bounds are quickly reached. A full HD image with a size of 1920 x 1080 pixels and a disparity range of 512 pixels requires already 1 billion elements, which is at least several GB of RAM, depending on the element size, wich are not available at standard FPGA- and GPU-boards. The novel memory efficient (eSGM) method is an advancement in which the amount of temporary memory only depends on the number of pixels and not on the disparity range. This permits matching of huge images in one piece and reduces the requirements on the bandwidth for real-time mobile robotics. The feature comes at the cost of 50% more compute operations as compared to SGM. This overhead is compensated by the previously idle compute logic within the FPGA and the GPU and therefore results in an overall performance increase. We show that eSGM produces the same high quality disparity images as SGM and demonstrate its performance both on an aerial image pair with 142 MPixel and within a real-time mobile robotic application. We have implemented the new method on the CPU, GPU and FPGA. We conclude that eSGM is advantageous for a GPU implementation and essential for an implementation on our FPGA.

elib-URL des Eintrags:https://elib.dlr.de/78804/
Dokumentart:Konferenzbeitrag (Paper)
Titel:Memory Efficient Semi-Global Matching
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Buder, Maximilianmaximilian.buder (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Ernst, Inesines.ernst (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:August 2012
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:Stereo Matching, Semi-Global Matching
Veranstaltungstitel:The XXII Congress of the International Society for Photogrammetry and Remote Sensing
Veranstaltungsort:Melbourne, Australia
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:25 August 2012
Veranstaltungsende:1 September 2012
Veranstalter :ISPRS
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - RMC - Mobilität und Exploration (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (bis 2012)
Hinterlegt von: Hirschmüller, Dr.(PH.D.) Heiko
Hinterlegt am:13 Dez 2012 16:06
Letzte Änderung:24 Apr 2024 19:45

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