Hardware implementation of stereo vision algorithms for depth estimation

Abstract

Depth estimation has applications like robot navigation, advance driver assistance systems, 3D movies etc. Depth is represented in terms of disparity map which can be generated using various stereo correspondence algorithms. This paper presents an implementation of semi global block matching algorithm on raspberry pi to estimate the depth from the camera. The algorithm computes the disparity using block wise matching and smoothness constraint. The proposed algorithm is compared with SAD algorithm on personal computer as well as on raspberry pi. The algorithm is also further, evaluated on the standard dataset. The project aim is to detect people in an image and estimate their depth from the camera. The real time implementation of the proposed algorithm uses block size of 21 × 21 for images which has resolution of 1280 × 720 P. The algorithm estimates depth with an accuracy of 95%. The system also provides faster processing time to the proposed algorithm.