Wilfried Kubinger

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In this paper, the challenge of fast stereo matching for embedded systems is tackled. Limited resources, e.g. memory and processing power, and most importantly real-time capability on embedded systems for robotic applications, do not permit the use of most sophisticated stereo matching approaches. The strengths and weaknesses of different matching(More)
This paper introduces a new segmentation-based approach for disparity optimization in stereo vision. The main contribution is a significant enhancement of the matching quality at occlusions and textureless areas by segmenting either the left color image or the calculated texture image. The local cost calculation is done with a Census-based correlation(More)
This paper presents the hardware implementation of a stereo vision core algorithm, that runs in real-time and is targeted at automotive applications. The algorithm is based on the sum of absolute differences (SAD) and computes the disparity map using 320 times 240 input images with a maximum disparity of 100 pixels. The hardware operates at a frequency of(More)
Image processing on a Digital Signal Processor (DSP) often requires image data to be stored in external memory, because the amount of fast on-chip memory is usually very limited. Processing images in external memory causes significant performance drawbacks. This paper presents a double buffering method using Direct Memory Access (DMA), called Resource(More)
The DARPA Grand Challenge is a competition of autonomous ground vehicles in the Mojave desert, with a prize of } for the winner. This event was organized in 2004 and held annually at least until 2007, until a team wins the prize. The teams are coming from various background, but the rule that no US government funding or technology that was created with US(More)
This paper reports our work on an embedded stereo vision system, designed to be part of an existing intelligent autonomous vehicle that participated in the DARPA Grand Challenge 2005. There are two algorithms executed on the stereo vision system. The first algorithm detects the lane, consisting of the drivable area in front of the vehicle. The second(More)
To enable adaptive stereo vision for hardware-based embedded stereo vision systems, we propose a novel technique for implementing a flexible block size, disparity range, and frame rate. By reusing existing resources of a static architecture, rather than dynamic reconfiguration, our technique is compatible with application specific integrated circuit (ASIC)(More)