基于SAD算法的立体匹配的实现

Implementation of the stereo matching based on SAD algorithm

利用FPGA并行性计算和合理的流水线设计完成了立体视觉中最核心的部分——立体匹配以及硬件结构,选取SAD区域立体匹配算法,利用补码来实现SAD算法,在算法流程中采用窗口并行和像素串行来完成。在获得视差图时,采用128×128图像对,窗口大小为3×3,视差为24,在系统时钟为50MHz情况下,实现了每秒425帧的处理速度,最后给出了视差图。实验证明,选用FPGA来实现立体匹配系统的设计是可行的,具有一定的鲁棒性。

This paper makes use of the parallelism computation and reasonable pipeline design of FPGA to complete the heart of a part of the stereoscopic vision-stereo matching. The algorithm is based on the sum of absolute differences（SAD）, using of com- plement to achieve SAD algorithm.In the process of algorithm ,we use window-parallel and pixel-serial to complete it. It computes the disparity map using 128x128 input images with a maximum disparity of 24 pixels and the chosen block size for the SAD is 3~ 3. With the system clock 50 MHz, it realize the 425 frames per second processing speed, and finally gives the disparity map.It proves that using the FPGA to realize tile stereo matching system design is feasible and has some robustness.