A parallel algorithm for incremental stereo matching on SIMD machines

Laine, Andrew F.; Roman, Gruia-Catalin

An effort has been made to develop a robust high-speed stereo matcher by exploiting parallel algorithms executing on general-purpose SIMD machines. This approach is based on several existing techniques dealing with the classification and evaluation of matches, the application of ordering constraints, and relaxation-based matching. The techniques have been integrated and reformulated in terms of parallel execution on a theoretical SIMD machine. An ideal machine topology for executing this parallel algorithm is identified through complexity analysis. Feasibility is demonstrated by implementation on a commercially available SIMD machine, and its performance is compared with that of the idealized machine. Sample results are shown for real and synthetic stereo pairs.


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IEEE Transactions on Robotics and Automation

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Academic Units
Biomedical Engineering
Published Here
August 11, 2010