Real‐time multi‐window stereo matching algorithm with fuzzy logic

Abstract

Abstract Stereo matching obtains a depth map called a disparity map that indicates or shows the positions of the objects in a scene. To estimate a disparity map, the most popular trend consists of comparing two images (left‐right) from two different points from the same scene. Unfortunately, small window sizes are suitable to preserve the edges, while large window sizes are required in homogeneous areas. To solve this problem, in this article, a novel real‐time stereo matching algorithm embedded in an FPGA is proposed. The approach consists of estimating disparity maps with different window sizes by using the sum of absolute differences (SAD) as a local correlation metric. Once the disparity maps are obtained, the left‐right consistency for each window size is computed. At the end of this stage, the centre pixel deviation is estimated through a 5 × 5 window and the Sobel gradient is extracted from the left image. Finally, both parameters are processed by a Fuzzy Inference System (FIS), which combines the calculated disparities and generates a final disparity map. An architecture embedded in FPGA is established and hardware acceleration strategies are discussed. Experimental results demonstrated that this algorithmic formulation provides promising results compared with the current state of the art.