Semi-Global Matching on the GPU
This is the implementation of Embedded real-time stereo estimation via Semi-Global Matching on the GPU, D. Hernandez-Juarez et al, ICCS 2016.
Performance obtained measured in Frames Per Second (FPS):
| | 2 paths | 4 paths | 8 paths | | ------------- |:-------------:|:-------------:|:---------------:| | NVIDIA Tegra X1 | 81 | 42 | 19 | | NVIDIA Titan X | 886 | 475 | 237 |
Results for example image (left and right Images):
Results for example image (Output):
Parameters used for KITTI 2015: - 2 path directions: P1=7, P2=84 - 4 path directions: P1=7, P2=86 - 8 path directions: P1=6, P2=96
Simply use CMake and target the output directory as "build". In command line this would be (from the project root folder):
mkdir build cd build cmake .. make
Type:
./sgm dir p1 p2
The arguments
p1and
p2are semi-global matching parameters, for more information read the SGM paper.
diris the name of the directory which needs this format:
dir ---- left (images taken from the left camera) ---- right (right camera) ---- disparities (results will be here)
Embedded real-time stereo estimation via Semi-Global Matching on the GPU D. Hernandez-Juarez, A. Chacón, A. Espinosa, D. Vázquez, J. C. Moure, and A. M. López ICCS2016 – International Conference on Computational Science 2016
If you use this code for your research, please kindly cite:
@inproceedings{sgm_gpu_iccs2016, author = {Daniel Hernandez-Juarez and Alejandro Chac{\'{o}}n and Antonio Espinosa and David V{\'{a}}zquez and Juan Carlos Moure and Antonio M. L{\'{o}}pez}, title = {Embedded Real-time Stereo Estimation via Semi-Global Matching on the {GPU}}, booktitle = {International Conference on Computational Science 2016, {ICCS} 2016, 6-8 June 2016, San Diego, California, {USA}}, pages = {143--153}, year = {2016}, crossref = {DBLP:conf/iccS/2016}, url = {http://dx.doi.org/10.1016/j.procs.2016.05.305}, doi = {10.1016/j.procs.2016.05.305}, biburl = {http://dblp.uni-trier.de/rec/bib/conf/iccS/JuarezCEVML16}, bibsource = {dblp computer science bibliography, http://dblp.org} }