Stereo Vision Embedded System for Augmented Reality

Abstract

Stereo Vision processing is a critical component of Augmented Reality systems that rely on the precise depth map of a scene to properly place computer generated objects with real life video. Important aspects of the stereo processing are the creation of a dense depth map, high boundary precision, low latency and low power. We present an embedded system for Stereo Vision Processing based on a custom GigE vision board with an Altera Stratix IV FPGA and the Acadia® II System-On-Chip that replaces an existing GPU/PC based system. By porting the stereo algorithm to an FPGA, we reduced the size and power requirements by reducing the workload of the CPU and eliminated the need of a high-end graphics card. The embedded system processes the same algorithm as the GPU/PC based system, but at 10× lower power and lower latency. Placed in a small enclosure, the overall system enables more user mobility for a more compelling user experience.