Implementation of Stereo Vision Algorithm on Signal Processing Hardware for Depth Estimation

Depth estimation has vital importance in various applications like Advance driver assistance systems, Robot navigation, 3D movies, etc. Depth information is represented using disparity maps which are generated from various stereo correspondence algorithms. This paper proposes an implementation of Semi global block matching algorithm on raspberry pi using python. The proposed algorithm generates a disparity map by block wise matching and smoothness constraint. The novel algorithm is compared with other algorithms on the standard dataset. It provides an efficient accuracy over local methods. The real time implementation of SGM algorithm on the system uses a block size of 21 x 21 for images having resolution 1280x720P. The system provides faster processing time for the proposed algorithm.