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Memory Efficient Semi-Global Matching

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

Full text not available from this repository.

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

Abstract

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.

Item URL in elib:https://elib.dlr.de/78804/
Document Type:Conference or Workshop Item (Paper)
Title:Memory Efficient Semi-Global Matching
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Buder, Maximilianmaximilian.buder (at) dlr.deUNSPECIFIED
Ernst, Inesines.ernst (at) dlr.deUNSPECIFIED
Date:August 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Stereo Matching, Semi-Global Matching
Event Title:The XXII Congress of the International Society for Photogrammetry and Remote Sensing
Event Location:Melbourne, Australia
Event Type:international Conference
Event Dates:25 Aug - 01 Sept 2012
Organizer:ISPRS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Hirschmüller, Dr.(PH.D.) Heiko
Deposited On:13 Dec 2012 16:06
Last Modified:13 Jul 2016 17:28

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