Onbody Realtime Disparity Image and Flow Generation System based on Highspeed Correspondance Matching using PC

Abstract

This paper describes PC-based, robust, real-time disparity image and flow image generation system, which is able to be embedded in robot's body. Real-time feature is carried out in three steps: adopting recursive correlation method, optimizing algorithm to second CPU cache, utilizing MMX instruction set. Consistency checking method is adopted to achieve robustness, we integrate into recursive correlation loop to achieve realtimeness. Finally evaluation of proposed method is denoted.