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Analog VLSI implementation for stereo correspondence between 2-D images

Erten, Gamze and Goodman, Rodney M. (1996) Analog VLSI implementation for stereo correspondence between 2-D images. IEEE Transactions on Neural Networks, 7 (2). pp. 266-277. ISSN 1045-9227. doi:10.1109/72.485630.

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Many robotics and navigation systems utilizing stereopsis to determine depth have rigid size and power constraints and require direct physical implementation of the stereo algorithm. The main challenges lie in managing the communication between image sensor and image processor arrays, and in parallelizing the computation to determine stereo correspondence between image pixels in real-time. This paper describes the first comprehensive system level demonstration of a dedicated low-power analog VLSI (very large scale integration) architecture for stereo correspondence suitable for real-time implementation. The inputs to the implemented chip are the ordered pixels from a stereo image pair, and the output is a two-dimensional disparity map. The approach combines biologically inspired silicon modeling with the necessary interfacing options for a complete practical solution that can be built with currently available technology in a compact package. Furthermore, the strategy employed considers multiple factors that may degrade performance, including the spatial correlations in images and the inherent accuracy limitations of analog hardware, and augments the design with countermeasures.

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Additional Information:© 1996 IEEE. Manuscript received February 11, 1994; revised December 9, 1994 and May 28, 1995. This work was supported in part by ONR and ARPA under Grant N00014-92-J-1860, the Department of the Amy, NSF Grant 9461047, and NSF Graduate Fellowship.
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-92-J-1860
Advanced Research Projects Agency (ARPA)UNSPECIFIED
Army Research Office (ARO)UNSPECIFIED
NSF Graduate Research FellowshipUNSPECIFIED
Issue or Number:2
Record Number:CaltechAUTHORS:20190429-151824492
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Official Citation:G. Erten and R. M. Goodman, "Analog VLSI implementation for stereo correspondence between 2-D images," in IEEE Transactions on Neural Networks, vol. 7, no. 2, pp. 266-277, March 1996. doi: 10.1109/72.485630
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:95084
Deposited By: George Porter
Deposited On:29 Apr 2019 22:50
Last Modified:16 Nov 2021 17:10

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