{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/embedded-real-time-stereo-estimation-via-semi","title":"Embedded real-time stereo estimation via Semi-Global Matching on the GPU","arxiv_id":"1610.04121","date":"2016-10-13","proceeding":null,"authors":["Daniel Hernandez-Juarez","Alejandro Chacón","Antonio Espinosa","David Vázquez","Juan Carlos Moure","Antonio Manuel López"],"abstract":"Dense, robust and real-time computation of depth information from\nstereo-camera systems is a computationally demanding requirement for robotics,\nadvanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global\nMatching (SGM) is a widely used algorithm that propagates consistency\nconstraints along several paths across the image. This work presents a\nreal-time system producing reliable disparity estimation results on the new\nembedded energy-efficient GPU devices. Our design runs on a Tegra X1 at 42\nframes per second (fps) for an image size of 640x480, 128 disparity levels, and\nusing 4 path directions for the SGM method.","url_abs":"http://arxiv.org/abs/1610.04121v1","url_pdf":"http://arxiv.org/pdf/1610.04121v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"embedded-real-time-stereo-estimation-via-semi","repo_url":"https://github.com/dhernandez0/sgm","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"disparity-estimation","task_name":"Disparity Estimation"},{"task_slug":null,"task_name":"GPU"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}