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A Stereo Correspondence Cost Function for FPGAs

Stereo Vision is a versatile ranging method which is not only accurate but also capable of sensing its vicinity with wide field of view and depth. In past, its inherent computational complexity and higher bit crunching rates restricted its use is real-time applications. Recent developments in FPGA and CPLD technologies have opened a possibility for Real-time Stereo Vision implementation, as they serve high processing and pipelining at trivial costs. A global revolution in Stereo Vision research is on the way, for harnessing this computational potential of FPGAs. This paper provides review of some previous successful implementations on FPGAs using Local Area Based correspondence and highlights the outstanding compatibility and efficiency of Census Transform as a cost function for stereo computation. Keywords—Stereo Vision, FPGA, Cost function, Correspondence.