Design and Implementation of Onbody Real-time Depthmap Generation System

Abstract

This paper describes the design and implementation of real-time depth map generation system with four key issues : 1) recursive (normalized) correlation technique, 2) cache optimization, 3) online consistency checking method, 4) applying MMX/SSE(R) multimedia instruction set. The system is implemented on a standard PC/AT hardware with simple image capture board. Implementation details and system evaluations are also denoted. Furthermore experiments with robots in real world are shown.