IEICE TRANSACTIONS on Information
RT-libSGM: FPGA-Oriented Real-Time Stereo Matching System with High Scalability
Summary :
Stereo depth estimation has become an attractive topic in the computer vision field. Although various algorithms strive to optimize the speed and the precision of estimation, the energy cost of a system is also an essential metric for an embedded system. Among these various algorithms, Semi-Global Matching (SGM) has been a popular choice for some real-world applications because of its accuracy-and-speed balance. However, its power consumption makes it difficult to be applied to an embedded system. Thus, we propose a robust stereo matching system, RT-libSGM, working on the Xilinx Field-Programmable Gate Array (FPGA) platforms. The dedicated design of each module optimizes the speed of the entire system while ensuring the flexibility of the system structure. Through an evaluation on a Zynq FPGA board called M-KUBOS, RT-libSGM achieves state-of-the-art performance with lower power consumption. Compared with the benchmark design (libSGM) working on the Tegra X2 GPU, RT-libSGM runs more than 2× faster at a much lower energy cost.
- Publication
- IEICE TRANSACTIONS on Information Vol.E106-D No.3 pp.337-348
- Publication Date
- 2023/03/01
- Publicized
- 2022/12/07
- Online ISSN
- 1745-1361
- DOI
- 10.1587/transinf.2022EDP7131
- Type of Manuscript
- PAPER
- Category
- Computer System
Authors
Kaijie WEI
Keio University
Yuki KUNO
Marelli Corporation
Masatoshi ARAI
Saitama University
Hideharu AMANO
Keio University
Keyword
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Kaijie WEI, Yuki KUNO, Masatoshi ARAI, Hideharu AMANO, "RT-libSGM: FPGA-Oriented Real-Time Stereo Matching System with High Scalability" in IEICE TRANSACTIONS on Information,
vol. E106-D, no. 3, pp. 337-348, March 2023, doi: 10.1587/transinf.2022EDP7131.
Abstract: Stereo depth estimation has become an attractive topic in the computer vision field. Although various algorithms strive to optimize the speed and the precision of estimation, the energy cost of a system is also an essential metric for an embedded system. Among these various algorithms, Semi-Global Matching (SGM) has been a popular choice for some real-world applications because of its accuracy-and-speed balance. However, its power consumption makes it difficult to be applied to an embedded system. Thus, we propose a robust stereo matching system, RT-libSGM, working on the Xilinx Field-Programmable Gate Array (FPGA) platforms. The dedicated design of each module optimizes the speed of the entire system while ensuring the flexibility of the system structure. Through an evaluation on a Zynq FPGA board called M-KUBOS, RT-libSGM achieves state-of-the-art performance with lower power consumption. Compared with the benchmark design (libSGM) working on the Tegra X2 GPU, RT-libSGM runs more than 2× faster at a much lower energy cost.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2022EDP7131/_p
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@ARTICLE{e106-d_3_337,
author={Kaijie WEI, Yuki KUNO, Masatoshi ARAI, Hideharu AMANO, },
journal={IEICE TRANSACTIONS on Information},
title={RT-libSGM: FPGA-Oriented Real-Time Stereo Matching System with High Scalability},
year={2023},
volume={E106-D},
number={3},
pages={337-348},
abstract={Stereo depth estimation has become an attractive topic in the computer vision field. Although various algorithms strive to optimize the speed and the precision of estimation, the energy cost of a system is also an essential metric for an embedded system. Among these various algorithms, Semi-Global Matching (SGM) has been a popular choice for some real-world applications because of its accuracy-and-speed balance. However, its power consumption makes it difficult to be applied to an embedded system. Thus, we propose a robust stereo matching system, RT-libSGM, working on the Xilinx Field-Programmable Gate Array (FPGA) platforms. The dedicated design of each module optimizes the speed of the entire system while ensuring the flexibility of the system structure. Through an evaluation on a Zynq FPGA board called M-KUBOS, RT-libSGM achieves state-of-the-art performance with lower power consumption. Compared with the benchmark design (libSGM) working on the Tegra X2 GPU, RT-libSGM runs more than 2× faster at a much lower energy cost.},
keywords={},
doi={10.1587/transinf.2022EDP7131},
ISSN={1745-1361},
month={March},}
Copy
TY - JOUR
TI - RT-libSGM: FPGA-Oriented Real-Time Stereo Matching System with High Scalability
T2 - IEICE TRANSACTIONS on Information
SP - 337
EP - 348
AU - Kaijie WEI
AU - Yuki KUNO
AU - Masatoshi ARAI
AU - Hideharu AMANO
PY - 2023
DO - 10.1587/transinf.2022EDP7131
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E106-D
IS - 3
JA - IEICE TRANSACTIONS on Information
Y1 - March 2023
AB - Stereo depth estimation has become an attractive topic in the computer vision field. Although various algorithms strive to optimize the speed and the precision of estimation, the energy cost of a system is also an essential metric for an embedded system. Among these various algorithms, Semi-Global Matching (SGM) has been a popular choice for some real-world applications because of its accuracy-and-speed balance. However, its power consumption makes it difficult to be applied to an embedded system. Thus, we propose a robust stereo matching system, RT-libSGM, working on the Xilinx Field-Programmable Gate Array (FPGA) platforms. The dedicated design of each module optimizes the speed of the entire system while ensuring the flexibility of the system structure. Through an evaluation on a Zynq FPGA board called M-KUBOS, RT-libSGM achieves state-of-the-art performance with lower power consumption. Compared with the benchmark design (libSGM) working on the Tegra X2 GPU, RT-libSGM runs more than 2× faster at a much lower energy cost.
ER -
English
