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Master's Dissertation
DOI
10.11606/D.18.2007.tde-19062007-160106
Document
Author
Full name
Gabriel Calin
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2007
Supervisor
Committee
Obac Roda, Valentin (President)
Caurin, Glauco Augusto de Paula
Marques, Eduardo
Title in Portuguese
Processamento de vídeo estereoscópico em tempo real para extração de mapa de disparidades
Keywords in Portuguese
Lógica programável
Processamento em tempo-real
Processamento pipeline
Visão estereoscópica
Abstract in Portuguese
A análise em tempo real de pares de imagens estereoscópicas para extração de características dimensionais da cena tem apresentado crescente interesse, possibilitando robusta navegação robótica e identificação de objetos em cenários dinâmicos. A presente dissertação propõe um método que emprega a análise pixel a pixel e observação de janelas, em pares de imagens estereoscópicas, para extração de denso mapa de disparidades. A arquitetura de processamento proposta é única em sua constituição, misturando elementos de processamento concorrente e seqüencial. O algoritmo estrutura-se em processamento pipeline, permitindo sua implementação em dispositivos de lógica programável e obtenção de resultados em tempo real.
Title in English
Real-time disparity map extraction in a dual head stereo vision system
Keywords in English
Pipeline processing
Programmable logic
Real-time processing
Stereo vision
Abstract in English
Real-time analysis of stereo images for extraction of dimensional features has been focus of great interest, providing means for autonomous robot navigation and identification of objects in dynamic environments. This work describes a method based in pixel-to-pixel and windows based matching analysis, in stereo images, for constructing dense disparity maps. The proposed processing structure is unique, mixing concurrent and sequential elements. Pipelines structure is employed, targeting implementation in FPGA devices and enabling real-time results.
 
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Gabriel.pdf (2.87 Mbytes)
Publishing Date
2007-07-04
 
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