Parallel Implementations of the CSBP Stereo Vision Algorithm | Zendy

Lucas Veronese | Zendy; Lauro J. Lyrio | Zendy; Jorcy de Oliveira Neto | Zendy; Avelino Forechi | Zendy; Claudine Badué | Zendy; Alberto F. De Souza | Zendy

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Parallel Implementations of the CSBP Stereo Vision Algorithm

Author(s) -

Lucas Veronese,

Lauro J. Lyrio,

Jorcy de Oliveira Neto,

Avelino Forechi,

Claudine Badué,

Alberto F. De Souza

Publication year - 2011

Language(s) - English

Resource type - Conference proceedings

DOI - 10.5753/wscad.2011.17272

Subject(s) - cuda , implementation , computer science , stereopsis , pixel , computer vision , algorithm , artificial intelligence , parallel computing , programming language

We developed two parallel versions of the Constant Space Belief Propagation algorithm (CSBP - one of the best stereo algorithms currently known) [1]: one in OpenMP and one in C+CUDA. For images with 640x480 pixels, the sequential version has a performance of 1.16 frames per second (FPS), the OpenMP parallel version has a performance of 3.7 FPS, while the C+CUDA version has a performance of 17.3 FPS in high-performance desktop machines. These results are important because they enable the implementation of autonomous vehicles with sensors like camera, which is one of the objectives of a PRONEX project being currently developed in LCADDI/ UFES. One of the goals of this project is to implement an autonomous vehicle from a commercial automobile.

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