Improved real-time correlation-based FPGA stereo vision system

Abstract

In this paper, we describe the design and implementation of Field Programmable Gate Array (FPGA) based stereo vision system. Implementation of correlation-based algorithm is well designed to exploit the parallelism in FPGA. The system is capable of running at more than 70 frames per second with 512×512 images. To improve the inherent weakness of simple correlation-based algorithm, two methods have been added. The multi-window approach improves disparity quality at object borders and cross checking reduces possible errors in general. The experimental comparison shows the improvement on final results.