Abstract:
In order to obtain depth perception in computer vision, one needs to process pairs of stereo images. This process is computationally challenging to be carried out in real-time, because it requires the search for matches between objects in both images. Such process is significantly simplified if the images are reflected. Stereo image reflection involves a matrix transformation which when done in software will not produce real-time results. But in stereo vision applications this features is very demanding. On the other hand, applying those transformations to the video frames is very restricted by real-time constraints. Therefore, the video streaming and matrix transformation are not usually implemented in the same system. Our product is a stereo camera pair which produces a rectified real time image output with a resolution of 320x240 at a frame rate of 15FPS and delivers then via 100-Ethernet interface. We use an Spartan 3E FPGA for real-time processing within we implement an image rectification algorithm.
